RepairPal Certified shops can diagnose and repair your 2006 Mercedes-Benz S430. They provide transparent pricing with a minimum 12-month or 12,000-mile warranty on repairs and services.
This is something that I would recommend be checked by a local technician who can tell you what's going on first hand. Could be as basic as spark plugs or coils being worn, could be a fuel or air control issue. Hands on testing would be best.