A vibration felt through the center floor of the vehicle can be caused by cracked and/or shredded driveshaft flex discs, resulting in excessive driveshaft movement. If not repaired, damage to the driveshaft center support bearing, transmission, or differential can occur.
Cracked Driveshaft Flex Discs May Cause Driveshaft Movement/Vibration on Mercedes-Benz 560SEL
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Flex discs failed and caused damage to the universal joint in the driveshaft. The symptom was a hard thud/clunk when putting the vehicle into reverse or drive. It shifted normally once in gear. $675 to have the driveshaft professionally rebuilt, $129 for new flex discs. Was $1100 parts & labor total at an independent Mercedes shop.