Hi, My name is Paul & I will try to assist you.
In the first instance check all rear bushes & joints for any signs of wear - check the rear road springs for breaks (they often break right inside the lower arm so check carefully) and the shock absorbers for leaks.
If all of this is ok with no signs of wear then a common problem for skipping in this way is incorrectly set up rear tracking.
The rear track is adjustable on Mercedes & a full 4 wheel alignment should be carried out & brought back into spec if any setting is out.
Also check the tyres for correct pressure & uneven wear.
Best regards, Paul