in a nutshell: its a very pretty, well built car that's STILL boring to drive. Won't match the bimmer for driving experience but looks nicer. It's probably perfect car for 90% of the drivers since only 9% manage to use may be even 60% of their car's full potential and remaining 1% of users will really tell that 'yes, audi is still understeering' and 'yes, bimmer still knows how to make a good chassis'. I'm taking a wild guess you are not in the 1% like many people here so just buy the car based on how you feel about it (looks, comfort drive, some spirited drive on B roads, etc). Both cars I'm sure are very reliable these days, so it's down to looks, smell, feel of leather and seats and touch of plastic, how gauges glow at night and how the engine SOUNDS.
i would not pick the Audi. I do feel that it's too stiff in good spec and feels bit boring inside design wise. We say Audi is a car for an Auditor.