The steering wheel shake on braking is 95% of the times caused by bent brake discs - replace them (but do check them for runout first) - the W210 really punishes the discs specially the rear ones (non vented pressed by 2 pistons stopping a heavy sedan). When replacing the front discs I also repack the wheel bearings with fresh grease and set the preload correctly.
Please do not try to machine the discs.
The front lower arm bushings will fail at 10 years age - the front one of the control arm is hydraulic and requires a good press to remove or the genuine MB tool.
For parts - dont use FEBI or Meyle. Use Genuine MB or Lemforder, When overhauling the front control arms replace the ball joints too - take 5 minutes when the arm is out. The major ride quality refinement comes from the rear suspension - its got a total of 10 arms and each arm has 2 bushings - you cannot buy the bushings, new arms are required (Meyle/FEBI make a set for this - they are OK to use as the rear is not heavily loaded but its mandatory to torque all the bolts at drive level, not hanging in the air, otherwise the bushings will last exactly 30 days, also replace the subframe bushings at this time, they are hydraulic too - watch out for glycol solution shooting out of them as they are pulled out.
For shock absorbers - genuine items were SACHS on this car, but Bilstein make the absolute best shock absorbers - they also make them for this car.