Join Date: Feb 2011
Vehicle: 2001 SLK320
Other Toys: 78 MGB, 84 Camaro, 85 Trans Am, 96 Firebird, 00 Sonoma, 06 Escalade
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If the tires and wheel bearings check out, it could be one of the flex discs on your driveshaft that's going out.
The SLK will have two, one at the front of the shaft and one at the rear, and they look like big rubber donuts that act as connectors between the tranny, the driveshaft and the diff. The rubber can get dry and crack creating symptoms similar to what you're describing.