RepairPal Certified shops can diagnose and repair your 2005 Mercedes-Benz S500. They provide transparent pricing with a minimum 12-month or 12,000-mile warranty on repairs and services.
Could be many things like loose wheels, tie rods, bad tires, etc. Only a hands-on inspection will determine the issue.
Use this link to find a good shop near you.
https://repairpal.com/repair-shops
Alex