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My SLK 350 (R172) was the most uncomfortable car I've ever owned. Even my 1996 MG B GT was more comfortable. Not saying that it was undriveable as It was my daily drive and we did several long road trip in it. I'd have replaced it with a 55 but my wife insisted on something more comfortable.I’ve never found a Mercedes to be uncomfortable, despite Mercedes becoming more like BMW and BMW becoming more like Mercedes,
I find that Mercedes typically have a relatively compliant ride compared to their equivalents, although active suspension really helps in that regard.