I know this is an old thread, but I'd just like to inform all the Mercedes owners that the cars mentioned in this thread have an inherent design flaw, which is, by current engineering standards the cause of these issues when turning on full lock. Changing the entire front suspension will NOT make the slightest difference. The problem is with the "castor angle" on the front suspension, which is set during the design and manufacturing process. For aesthetics and weight saving objectives, the castor angle is set to as near as dam it, 0 degrees (perpendicular), when 0.5 degrees (30 seconds) would be minimal. Mercedes will never admit this, but a decent alignment center should be able to measure it for you. It is not adjustable, and it cannot be fixed, so I'm afraid you will have to put up with it. My only advice, don't buy a Mercedes in future.