I drove a 2k4 Audi S4 yesterday (sorry 4 the x-post)
Could not really "throw" it around (slightly wet roads, riding with dealership rep. etc.) but suffice to say that the Audi steering felt "well planted" but heavier on the front wheels. Believe it or not (notwithstanding the c32's body lean) the AMG felt like it was more tossable.
Power was there, and the six speed was nice as you could hold/control the power in the gear you wanted. But it felt less torquey than my 2k2 c32 and my 2k2 996 Targa. And in city driving, without really dropping the clutch on the Audi, I think the c32 (when the ESP doesn't intrude) would pull away from it stoplight after stoplight.
The Traction control seemed to be much better on the Audi (a gripe of mine since the day I purchased my c32, shame on AMG for putting essentially c320 ESP software on a car with considerably more power!)
I ran both cars similarly, using the c32's manual shifting option, and I think the c32 really does give you the best of all worlds for City driving --which face it, most of the mileage on our cars experience.
Back to the Audi, the all-wheel-drive is very nice, so much so that I would consider it because of the climate I live in. Should I live in a warmer climate, I think the Audi would not be as attractive to me. The ergonomics were nice (the Tach should be on the RIGHT however, and what is it with German Designers now-a-days with absolutely USELESS Speedometers eg: 2k4 S4; 996; even our Canadian c32 units - ya gotta spend TOO much time looking at the analogue unit to figure out what kind of story you have to make up when you get pulled over.
The c32 has IMHO, some nicer interior features such as the Seat Controls for both front seats within easy and visible access (i.e.on the door panels VS. the lower part of the seat on the Audi's) and better looking 2-tone seats (mine are the AMG Charcoal/Blue version). The Audi however has a proper Hand-Brake -although I didn't get a chance to yank it to get the rear end out
!Audi has done a very good job with this car, but I'm not sure if it's enough to sway me from my c32.
Just my brief thoughts :p
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