Yes, M cars are all about driving experience.
Of course RS4 is "more fun to drive on daily basis" - since it is glued to the road due Quattro AWD system.
But the essence of M cars is driving involvement. Hard work when driving. Constant shifting. Oversteer on the limit. Sensual experience.
BMW M will never become more clinical then AMG or RS4. Perhaps AMG & RS models will "drive better" but regarding driver involvement & "Freude am Fahren" feeling M will still remain unbeatable.