Yes, when a wheel speed sensor has failed the brakes will judder at low speed, just as if the ABS has kicked in - very disconcerting. Also, as soon as the engine is started the dashboard lights up like a Christmas tree with error warnings for ESP,ABS, TPS etc & they will not go out, An iCarsoft i980 code reader for £100 is a good buy as it will tell you which wheel the sensor has failed on & enable you to cancel down the dash error codes after changing the unit. MB dealers will quote/charge you about £500+ to change a £40 sensor for less than 30 mins work - a nice little earner.... Both left & right front sensors are identical. The part number is A 1725400017. Only buy the "ATE" branded sensor - this is MB OEM & WILL work.
Mike