Every time I stop at a red light or stop sign my car starts to jerk and shake

I had a similar situation when I had a 2002 MB. It would shake when stopped in "drive" position. Putting it in "neutral" seemed to remedy the shaking and jerking. It was the engine mounts. They were exchanged and the shakes stopped.

Not sure if this has anything to do with it, but I just had to replace my motor mounts. At a high speed it would shake really hard, or when I was stopped. The motor was just loose and shaking.