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I'm biased, but I think the M3 would be the most well-rounded for what you want, especially if you're looking for a sedan for the kids. I side against the M6 because its practicality is a notch lower (I assume). Also, the modding community for the M3 is fairly sizable.
However, I rarely see an M6 on the road or at the track, that is, if you're looking to belong to a more exclusive club. Be prepared to pay at the pump though, more-so than the M3!
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