Date registered: Jul 2008
Vehicle: 2004 Mercedes-Benz S55 ///AMG, 2006 Mercedes-Benz E350
Location: California USA
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Sounds like control arm, thrust arm bushings have had it with their useful life on your car with 186K miles. Time to have your mechanic take a look and replace them. An independent mechanic will probably do it at half the cost of an MB dealer for these items.
Also, check for anything unusual on the tires, i.e warped, lug nut missing, just in case.
Good luck !