I just changed mine. I have an 01 4matic. After checking around and talking to many people I put the factory shocks/struts back on. On the 4matic you have struts on the front and shocks on the rear. Like you I did not want a harsh ride. The factory shocks hag Boge stamped on them. I was told by the Bilstein rep that their shocks are a little stiffer than the factory. However, the Bilstein are used on the E320 w/sport suspension.
You can use Bilstein HD(Non Lowered/Stock Spring set up), Bilstein Sport(better coupled with Lowering Springs), Koni Red, Koni Yellow(Fully Adjustable).....I personally used Koni Yellows set at Mid Firm/Soft(Middle setting) and is very pleased with my suspension mod.....If you are not changing your springs and will still use your OEM Springs, I highly recommend the Bilstein HDs-they are the same shocks an E55 uses......BTW, ALL W210 97-02 Shocks are interchangable and WILL FIT ALL E320/430/55 EXCEPT those equipt with the Air Suspension.
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