AirMatic is really good about letting you know when something's wrong with it, as I learned the hard way with the S Class. If it's not giving you any error notifications, the suspension, or at least the AirMatic part of it, is okay. That's not to say that any of the other suspension bits are all good, but if it's tracking normally I think you're fine.,
Like with any suspension there are hard bump stops at the limit of the upward suspension travel. Depending on your ride height (Comfort, Sport, Sport +) you can get into those.
Next time you're on that road, set AirMatic to the temporary lift mode and see if it still happens.