I've driven an S5 just recently actually and do agree with you on the interior of those. I'd even say the interior of the RS6 doesn't look fantastic in photos but in person it looks and feels much better, the materials are an extremely high quality and I like the exposed carbon fiber weave they use almost everywhere. My one knock on it, and many manufacturers are bad for this is the use of piano black trim, it smudges, collects dust and scratches just by looking at it the wrong way. I did order some Xpel stealth PPF to cover it all and the screens though.
I'll admit one of my hangups with BMW is the reliability aspect of it. A friend of mine owned an X6M for 12 months, and it spent about 11 of those months in the service bay, no joke. The M3 is an excellent performer, though.
As for the RS6 itself, I am really enjoying it. It's definitely a different animal than I'm used to, there is definitely some throttle/turbo lag, and the car is so refined that it doesn't seem as raw performance-wise as a Hellcat. Launching it you can tell it's pulling power in first so it doesn't have quite that punch-you-in-the-head feeling as my old Trackhawk, but once it hits second gear it freight trains hard. The handling is extremely good though, along with the maneuverability with the 4-wheel steering. I saw in a lot of reviews talk about it being such a heavy car, but it honestly FEELS like it weighs half as much as my Challenger. The nice thing is for $1700 Canadian which is just for a tune I can fix the throttle and turbo lag and gain 162 horsepower and 119 lb-ft in the process. That blows my mind. I thought this car would fly under the radar, but it gets a lot of attention, and a lot of people know exactly what it is. Audi did an incredible job designing this car. I never thought I'd own a station wagon, but as a photographer/videographer and always being on the go, it's so convenient to just throw my camera gear in the hatch and call it a day.
It's all still very weird to me as I've never been someone that's had any love for Audi to be honest. I always just refer to them as expensive Volkswagens, but maybe people are right and the RS cars are special. IF I can find another 23 Redeye Jailbreak Challenger I might still pick one up as well.
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