I would hazard to guess you won't see a detectable balance change switching to urethane bushings on both ends of the car. You will improve the efficiency of the front anti roll bar with a hard durometer urethane by reducing the compliance which could increase understeer by a small amount but you may need to be Rene Arnoux, Alain Prost or, in the modern age, Charles LeClerc to feel the difference... but of course I am not questioning your driving skill! I am sure there are those on this forum more knowledgeable than me but you may only notice increased responsiveness, a bit "crisper' handling, due to the reduced compliance in the suspension (depending on durometers chosen... harder more, softer less) but you may feel increased transmission of vibration - sharper frequencies as the softer durometers of the OE rubber bits are not there to absorb or dampen it. Urethane bushings can be noisy, squeaky, as Russell mentioned and should be greased if used in rotational joints.
A stiffer front anti roll bar will change the balance of the car (usually towards more understeer or push) unless coupled with the addition of a proportionally sized rear bar. If balanced the bars will flatten out the ride, less weight transfer to the outside tires, but increase the chance that you compromise traction in a bumpy corner since you are increasing spring rate in roll. Spring rate changes, proportional or not front to rear, can change balance and responsiveness. Reducing compliance in any of the system will make the car less "cushy"... usually, but more controlled. For a race car the engineers try to reduce compliance as much as possible to increase suspension and chassis control unless that compliance is beneficial. Of course a dedicated race car will rattle out your dental work compared to a road car.
In the end its a compromise on how you want the car to feel, one driver may like the balance of a particular car where another finds it unbalanced for his style. Again I don't want to try to appear as an expert on these cars or suspension setups in general, I am sure there are those on this forum that could recommend specific modifications to the suspension and chassis to improve responsiveness without losing too much of the comfort that Mercedes engineered in.