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We had an S5. The fit and finish was much more like a CL550 than a BMW M3. It was a beautiful car.
We've had 6 Audi's in the family. Two had a significant amount of issues, the Allroad 2.7T and then 2004 S4 once it passed 75,000 miles. Our S5 was problem free while we owned it and a great car. I'd say the late model Audi's have significantly improved on overall reliability. I don't think i'd ever own an Audi older than 08' or 09' unless it was a project car.
The RS5 isn't as dynamically rewarding as the M3 but in terms of numbers on paper it puts down the power more effectively on street tires, and pulls out of corners a little bit faster.
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