Dunno if the new RS7's have it or not, but I drove a 2019 A6 as a loaner while my 2018 S5 was in the shop and the suspension was like riding on clouds and the new electronic interior is super sweet.
Audi can be hit or miss.. My 2014 S4 was flawless and I loved it. My 2018 S5 sportback, so far in one year and 12k miles, has had the following problems: 2 dead airbags (separate occasions), dead airbag wiring harness, dead engine thermostat, dead hatch lock button, 3 dead "premium" Bang and Olufson speakers (also all at different times), and an insufferable rattle from the passenger door that took them multiple tries to eliminate. Also the throttle response is dogshit in any mode other than Dynamic Sport.