Once in a while when I took the MB in for service, they had to pull a car off the used lot for a service loaner. On one occasion I had an S320, which is the S-Class chassis with the 3.2L six from the E-Class line. What a car!! It was massive inside and luxurious to a fault, but the chassis felt lighter and much more agile than the V-8 cars. (which I'd driven quite a few times at MBCA events)
Though it had "only" 228hp, it was still pretty quick and had I been an S-Class buyer and drove both the I-6 and V-8 versions, the I-6 would have come home with me.