"I used to have BMWs but they don't hold up well."
Tbg, curious as to your definitive statement re BMWs. My current ride is - to date - the most reliable car I've ever owned, and I've owned several of the more respected marques, including Porsche and another BMW. It's also the best performance car I've owned. Ironically, I test drove the Cayman before buying my M3 and wasn't particularly impressed - and yes, it was the S. Before buying our LR3 I test drove both the Cayenne S and the Turbo. Wonderful automobiles but I wouldn't take either of them in the places the LR has travelled. As a disclosure I should mention that I've owned two LRs and a Range Rover, so I was probably predisposed to LRs anyway.
As to the Audis, they are superb automobiles. I really enjoyed driving the S4 and the RS4 is in another league. The S6 is also wonderful but, alas, it is not an M5. But that hardly detracts from the S6's allure. Just my opinion.