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My name is ***** ***** I am a professional here at Just Answer. I noticed that your question had not received a response and thought I would see if you still need help with this.I apologize for the delay and I hope I can still assist you with this here.
Inspect and make sure no exhaust components are bent or damaged at all causing this fault here to where exhaust components or their heat shields are contacting the body or engine and transmission.If a fault is found with any of these it will need repaired to correct this here.If this is checked and found to be o.k. I would have the engine mounts checked as I have seen these weaken and collapse and cause issues as well needing replaced.
If the power steering is squealing at times check and make sure the power steering fluid reservoir is at the correct level and if found low this indicates the power steering system has a leak that needs located and repaired then the fluid filled to the proper level.If the fluid is at the proper level already let me know so we can continue.
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I apologize for the delay.
Correct if any of the pipes are damaged/bent this can cause this here as well as any heat shields around or above the exhaust.These all need checked to locate which component is at fault here needing repaired or replaced and to see if this is the cause at all.
If the exhaust is o.k. the only other common fault/components to cause this here are the mounts themselves.I have seen these collapse over time which is very common on Mercedes causing this here with them needing replaced.I have had to replace these several times before.
To me from here this does sound like weak/worn engine mounts.This is a very common issue on this model as well as the other Mercedes models.The other issue is a drive belt that has stretched as this can cause the vibration and squeak noise as well.These will have to be checked into further to see if any of these are the cause here needing replaced.
O.k.,if you replaced the belt already and this noise occurs with the ac on the other issue is the ac compressor starting to lock up or putting to much strain on the drive belt which in turn the belt slips slightly and can cause this noise here.I have had to replace the compressor as well for this issue.
When you turn the wheel completely does it make this noise with the ac on and off or only with the ac on?
O.k.,with knowing this this sounds like the power steering pump is starting to fail and the vibration is coming from the engine mounts.The power steering pump will cause this squeal noise here.
It does have internal bearings integrated with the pump itself.When the pump starts to fail like this here the pump itself needs replaced.This may be causing some vibration as well but its hard to say for sure from here.
If the power steering pump is dragging on the belt somewhat this may be causing other pulley/components like the super charger to vibrate with slight belt slip issues.I have seen the power steering pump cause this noise issue here and in some cases if dragging down on the belt it may be causing vibrations.
The tensioner can move slightly but if its bouncing I suspect due to drag on it from the power steering pump.
The noise can still be an issue with the power steering pump but if the ac compressor is locking up it can cause the noise from the pump area as the belt slips around the pump.
Your ac compressor should be located on the drivers side I believe one of the lowest components the drive belt operates on the drivers side as seen below.It is common for it to act up/fail needing replaced.
Here is the replacement info the best I could locate.Unfortunately this is as big as I can post it here.
You will need an ac machine to recover the ac freon and reinstall it as well so it is best to have a shop or dealer do this.It may be a good idea to have a shop or dealer look into the fault as well to help pinpoint if this is just the ac compressor or power steering pump or both needing replaced as well as have the mounts checked.
In some cases it can be just the oil seperator itself at fault needing replaced.I have had to replace this before several times for issues similar to this here.I would start with this and see if this resolves the issue.
The cover does need removed as there is a bolt on the back of the tensioner that needs removed.Below are some links for the replacement.I apologize as unfortunately this is as large as I could make the pictures.