1992 W124 200TE Stutters and stalls when pulling away

[bernardk]

I've been having intermittent issues where my car would be at a standstill, the revs would erratically bounce around followed by the car either juddering when moving off, smoothing out once the revs exceed 1000rpm and or the car would stall out and struggle to fire back up again.
The car fires up straight away when cold, and runs perfectly well until it gets closer to operating temperature. The car will happily undertake motorway miles so this is definitely just an idle issue. When tested the car produces spark without issue, there were no apparent vacuum leaks during a smoke test.
I have visually inspected the OVP and the fuses seem fine. When researching the ICV on forums, people have mentioned that their idle increases when the ICV is disconnected. When I disconnect the ICV however, the car will stall, no matter the engine temp. Is this normal for a In4 or should this be a cause of concern?
I have removed the ICV and thoroughly cleaned it, after this the car hasn't stalled on me again. The symptoms feel similar to how the car behaves when the distributer cap is unplugged whilst its running, but with the engine dying instantly when the ICV is disconnected I'm not sure whether a sticky ICV can produce similar stuttering to a faulty distributer cap. I'm not sure whether this has in fact solved the issue as the car judders at idle, amplified when put into gear. I'm not sure whether this is the engine running rough and or whether the engine and transmission mounts are excessively worn as I can only compare it to feeling like a bus at idle which I'm sure isn't what Mercedes engineered it to be like.
Please find a video of the cars rough running symptom linked below
Any advice would be much appreciated

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[optimusprime]

I would check all fuses in the fusebox first , along with the battery .Clean the battery posts and grease them then refit.. Check earth points , same for thiose, remove,the leads , and grease them, and refit . Some cars have never had the eaerth points cleans after first beeing painting at the factory . . When were the plug leads replaced .? and distributor cap along with rotor and spark plugs ...are the plugs the right ones for the engine ? I would check under the bonnet when its dark ans see if you can see flashes [shorts] .. come back if you need to ..