A vibration felt through the center floor of the vehicle can be caused by driveshaft flex discs, which crack and shred, causing excessive driveshaft movement. Not repairing these can cause damage to the driveshaft center support bearing, or, in the worst case scenario, damage to the transmission or differential.
Cracked Driveshaft Flex Discs May Cause Driveshaft Movement/Vibration on Mercedes-Benz R350
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Middle seat vibrated terribly at a couple of speeds. car was under warranty - entire driveshaft replaced