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For six months, I shopped RS5 Sportbacks and I even went up to Seattle, check in hand. After driving many RS5s, I could not fall in love with the car. The acceleration is great, but I find the BMW M550i xDrive to feel faster. The Audi has a very harsh suspension in Sports+ mode and it is jerky and very rough riding. I like the interior of the BMW better. It is more elegant. However, I did like the carbon fiber in the Audi. The steering on both cars is similar. Both are numb. The sound of the BMW is much better. I like the Harmon Kardon Stereo better in the BMW. I chose the BMW 550i xDrive over the Audi. You should have an extended warranty on both since they are expensive to repair.
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