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.
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Repairpal verified 2010 Mercedes-Benz E550 4MATIC problems
The ESP and BAS warning lights may illuminate due to a failed brake light switch. Replacement of the failed switch should correct this concern.
Many software updates are available for the different computer systems, but if the vehicle is out of warranty, it may cost money to receive the updates (unless it is a recall). Some updates may be dealer-only, but a well-equipped independent shop can usually provide updates as well.