This is a hard one to do. My choices will be a mix of what I've driven and what I haven't.
Luxury: VW Phaeton (not driven)
Sports: Corvette ZO6 (driven)
SUV: Hummer H1 (driven)
Truck: Silverado CC duallie Duramax, 6-speed (driven)
Supercar: Ferrari 575M Maranello (driven...does GREAT burnouts)
Family car (cheap): Cadillac CTS M/T (driven)
Family car (not cheap): Cadillac CTS-V (not driven)
What I like is that the CTS-V is quicker and faster than the current BMW M5. And, Kurant, the RS6 does not blow the doors off of the M5. And, the M5 is a better looking and more refined (in my opinion) drive.
Specs between the two. The 2002 M5 listed first, the 2003 RS6 second.
0-60mph: 4.6/4.3
1/4 mile: 13.1 @ 109.4/12.6 @ 108.6
60mph-0 braking: 116'/113'
Slalom Speed: 67.0 mph/67.8 mph
Skidpad grip: 0.88-ish (can't locate the exact figure)/0.89
You would expect the lower 0-60mph times for the Audi due to 56 more horsepower and all wheel drive, but the BMW comes back with a higher 1320' trap speed. Braking is equal, and the slalom speeds have a negligible difference.
And this is the 394hp M5. Just wait for the new M5...550hp from the V10. 0-60 is looking to drop in to the 3 second category. And, it's less spendy than the RS6.
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Generally speaking, if you were to get what you really deserve, you might be unpleasantly surprised.
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