First, the US version of Top Gear pales in comparison to the UK version.
Second, I drive a 2012 S5. overall, I love this car, but can only rate it about a 90 out of 100. Its weak points are that it feels heavy, there are alot of rattles especially with the Bang and Olufsen, and the Tiptronic has about 100 different personalities. Using the "manual" mode in the auto is the best way to drive this, but I chose the auto for casual driving as well. When driving in "Comfort" mode, the auto is very sluggish and choppy. In "Dynamic", it's definitely more spirited.
My previous car was a 350Z Roadster with an auto, and the character of that auto a perfect balance in cruising and spirited driving.
My favorite cars of all time that I've had:
1) 1989 Acura Integra
2) 2006 350Z Roadster Touring
3) 1999 Nissan Pathfinder
4) 2012 Audi S5