it gets quieter as you drive.like something needs to get warm
rubbing noise when first starting out seems to be coming from right rear. on 2003 Mercedes-Benz E500
Often noise is from brakes (friction or backing plate), can also come from wheel bearings. Recommend have the vehicle checked out at facility which has an electronic wireless chassis ear available. Call Roy at 757-456-0722 if you would like a free loaner vehicle while we check and correct it for you.