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I have driven RS5, S5, G82 extensively and own M340i at the moment.
RS5 feels more planted and connected compared to m340i (should be similar to m440i). Also the steering on RS5 feels more direct compared to 340i especially on RS5 with fixed suspension. At the same time RS5 rides a lot firmer vs m340 or S5.
M340i allows you to throw the back of the car at will while remaining in control, RS5 doesn't do that so not as fun for sliding around. Have to agree with Burrcold that RS5 feels a bit more special compared to those cars. However there is a price to pay day-to-day.
G82 is a different beast. For me it beats the RS5 in every single aspect (performance, interior, fun, maintenance cost, etc.) and with Xdrive there is no longer quattro advantage for Audi. Since the pricing is so close between RS5 and M3/M3 I really don't see a point for buying the Audi.
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