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Soon Ex,
We have a lot in common. I'm coming from an Audi, too; in my case, a 2007 A8 Sport. I drove both the 550 and the 535, and chose the 535 for handling. With close to a 300 lb difference between the 535 and the 550, most of it on the front end, I experienced a greater tendency to proceed in a straight line in the 550.
You need to understand that my daily commute consists of, in each direction, about 10 miles of tight (30-50 mi/hr) corners. At higher speeds, the 550 may come into its own. In those low-speed corners, the extra power of the 550 is not an advantage; the 535 has plenty of power to unsettle the rear end, if you're so inclined. So my situation may not reflect your needs.
The A8 is able to put the power down better due to the AWD (slow in/fast out is the right style). The limits on the 5er are higher, so the entry speeds can be faster, but the BMW is not very pitchable.
I don't have my car yet, so I can't tell you how it all turned out.
Jim
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