One problem related to transmission slip out of gear has been reported for the 2002 Mercedes Benz E320. The most recently reported issues are listed below.
While decelerating onto highway from on ramp, the transmission seems to slip out of gear. This has happened several times. It's is a scary situation to lose power as you merge into highway. I coasted to brake down lane. I shifted back into park gear to reset, then back into drive gear to resume travel. This has happened two more times since. Can be a dangerous in heavy traffic roadways.