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yeah i love switching cars with my cousin. his e class turns without a problem
I did a little digging and I found that for the '07 E350 Sport, R&T gets a turn circle of 37.4', hardly any different from the Mustang GT (R&T got 36.0' for the '05 GT, just to stick with the same folks).
Where the difference comes that I think is "biting" you is the steering ratio - 13.8 for the M-B vs 15.7 for the GT (almost 14% slower). Yes, I'm aware that there is a wheelbase difference, but that's on the order of 5%.
I think you're trying to steer the GT like it was the M-B and the front wheels simply won't get you steered as fast per degree of steering wheel movement. It'll steer about as tight once you get it there, but since it gets there slower, you're running out of road before you get enough steering input done. Slow down a couple of mph before you start turning and crank the steering in just a little faster and I think you'll be happier.