mercedes 'jerking' and limp mode

[local looney]

hi all
thought id pop this in here as i have been having trouble with the above on my c320 cdi..
been to the garage i got it from twice and no joy
all i had was EGR codes...
its had new EGR, MAF sensors..etc

the third time, it went to a Bosch specialist and i picked it up today..

they couldnt find anything wrong with the turbo/actuator...flaps, flap motor..etc..

however, what they did find is that it kept flagging up dodgy egr valve and dirty air filter !!

they reset adaptations for these plus a few more, have had it a week and no issues!!

ive been driving it around today in comfort and in sports and its behaved impeccably!!

hopefully, its cured...we shall see.......