When cruising through town or elsewhere, it is however still far from perfect, in fact it is very annoying to drive in either automatic S-tronic mode

In Dynamic (S) mode, it makes way too many revs (it upshifts above 4-5K rpm, too noisy to cruise, very nervous, only good for speeding).
In Auto/Comfort (D) mode, it makes way too less revs (it upshifst around 1,5-2K rpm) so not enough torque, and again no comfortable driving.
Result: most of the time I drive in Manual mode, which is more relaxed than D or S mode, because you can have the optimal torque in every situation, without driving too nervous.
But now I found the solution: via VCDS (see here) I configured the Efficience (E) mode, and surprisingly this is the best Auto mode for the RS5 S-tronic!

In E(fficiency) mode, the S-tronic upshifts around 3K rpm, which is ideal for cruising downtown or B-roads, and the same I did in Manual mode.
So finally a S-tronic mode which makes it possible to drive the RS5 also in Auto mode in "normal" situations.
I am still looking if it is possible to find a way to get only the gearbox/engine to be in E-mode, and steering, suspension, sport diff, ACC, etc in different (Dynamic/Comfort/etc) mode. Pity that Efficiency does not appear under the Individual options of Drive Select, so now you have to go Efficiency for ALL components, or not.

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