I have a 2000 C230 kompressor. Does anyone know why my idle in drive would be so rough, and idle in reverse, neutral and park be very smooth? Thanks for your help.

 

Bad motor mount.

 

I own a 2003 C320 4matic and I had a similar problem, with ruff idleing and boggy acceleration. I took it to the dealer and they said it was a minor adjustment to the air sensor, they were pretty cool about it and replaced the sensor and the air filter and the problem went away. I don't know if this info will help you but I hope it puts you on the right track in order to fix your problem.