If you're under warranty, bring it to the dealer. This is a very common occurence on the 210 cars. It was initially thought to be the rubber boot on the firewall. MB developed a new boot and a special grease to address the issue. This did nothing. On 4matic models, there were brackets drilled into the body that held a steering line in place. This also did nothing. The problem is very likely caused by a leaking radial seal inside the rack. It has been pretty widely speculated that this common failure is due to the rack's close proximity to the exhaust system and the seal's inability to handle the heat generated in that area. The fix now is to rebuild the rack itself. This also rarely has the desired effect, although it will sometimes correct the problem (or at least help). The only way to guarantee a fix is a new rack. We rebuild a lot of these racks under warranty only to throw a new one in after the work is done. MB in her infinite wisdom still prefers it to be done this way. If you are out of warranty, a new rack runs about $1500 (just parts) thanks to the speed dependent power steering that is integrated into the unit.
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