I respect OP's opinion that BMW driving is boring. I hate my F10 in that respect.
But, OP complained about comfort seat in F10, buy he did not complained about the seat in Audi. He loses his credibility on that topic.
Audi main weakness are the SEAT (not S6/S7) and the overall interior quality compared to F10.
F10 535i Jet Black/Cinnamon Brown