My 96 E320 hiccups at idle while stopped when the transmission is in gear. This happens about every 5 to 15 seconds. I have replaced the EGR valve as that was the only error code I've been getting besides an occasional P300 Random Misfire code.

Any suggestions ?

 

I had the same problem with my 95 E320 only happened ifabove 3000rpm
My mechanic (non dealer MB service station) just reprogram the computer for $170.00, the problem solve.
I hope your problem as simple as mine did.

 

Update,

I changed spark plugs and found a cracked vacuum tube while in there. Fixed the vacuum tube and it runs like a champ now!

Glad that was an easy fix.