I had a similar issue with my 00 ML430 at around 55k. I used a code reader (
http://obddiagnostics.com/) with a laptop to read my misfires over the period of 4-6 months because it was indeed intermittent. I would say about 50% of the time I would get an O2 sensor code. Before I changed that, I did the scheduled changes such as spark plugs and fuel filter. After getting the more misfires again, I went ahead and changed the 02 sensor the code reader referred to. All is fine now.