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Originally Posted by Pete Burton
In my book, u-joints rank at the top of the list for most often,unnecessarily replaced parts on a car. I've been guilty of it myself. 
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The u-joint on a Mercedes is easy to check. Pull the entire shaft and then deflect the shaft at the u-joint. If there's excessive wear, you'll feel a distinct change in resistance/friction when the arc of the yoke moves beyond it's normal range of motion. The resistance you feel out side the normal range is the proper clearance, the 'looseness' close to the 'normal' arc is the play that causes driveshaft vibrations.