Yes but AWD is a key part of that. With a rolling start the comparison is less exciting.
The S8 lacks the precision and fun driving dynamics of the M5. It is more of an exciting car in a straight line. The S6 handles a little better than the S8, but not even close to the M5.
M5 is also much more luxurious. I was sitting in the Audi S models at the South Florida Auto SHow, and the interiors seemed a little cheap - especially on S6 and S7 where there is lots of plastic and no full leather option.
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