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From my experience, Audi, like the other VWs, has better low-end torque then BMWs, so the initial acceleration would be faster then a BMW, but given a long enough straight, a BMW will overtake the Audi, once the high-end revs of the bimmer kicks in, then the BMW will really go.
But if you are talking about overall roadholding and handling, a BMW still beats an Audi, although the distance between them in this performance aspect is getting closer because of Audi's quattro. Still, for now, if driving enjoyment is the priority, I would choose a BMW 3 series. An A4 would be my second choice, it's a great car, handling-wise, but still not quite as good as a 3 series.
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