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If you're out on the track, fine, you can argue about the nuances at the limit. But for the driving that 99/100 Americans actually do, this isn't really true. Modern Audis drive incredibly well, and I've owned both Audis and BMWs over the years.
San Francisco, CA
2006 BMW X3 3.0i (manual, m-sport, xenons, premium package) [current]
2006 Mini CooperS convertible (manual, sport, xenons, etc.) [sold]
2006 BMW 330Cic (manual, premium, sport, xenons, etc.) [sold]
1998 Audi A4 (2.8Q Tip) [sold]
I've also driven my family's cars over the years, including the following:
2004 Allroad 4.2,
1990 V8 Quattro
Two 2009 A4s (one avant, one sedan),
2003 TT cabriolet,
2006 Audi A4 cabriolet, and
2000 Audi A8.
I've had plenty of experience driving both BMWs and Audis over the years, and I disagree with your assessment.
While it's wrong to say Audi's don't drive like they look an A4 still doesn't drive as nicely as a 328i. The BMW feels lighter and more balanced.