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.
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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.