I installed the KW HAS and Eurocode sways to my RS7 (w DRC) last year and love it. The car is slightly harsher in Comfort, but not really noticeable unless you are in Dynamic mode, where you will really notice the difference. I generally drive the car in Individual Mode setup with Comfort suspension settings unless I want to have fun, then move into Dynamic. The Eurocode sways are worth every penny as the car is way more stable than before. Note that the DRC is already much less "floaty" than the air-ride suspension, but now it is rock solid.
There is not a whole lot of range in drop with this system (5 - 30 mm front, 0 - 25 mm rear). I only dropped the car about half that much and will be going about 10 - 15 mm lower once I have my wheels milled slightly, as the 295s on the right rear marginally rub the fender with passengers in the back (of full trunk) when I hit a large dip/bump.
The kit comes with tools to adjust the height which I have not used yet, so I cant comment on how easy it is to DIY. Definitely need to take wheels off and put on a lift / jack to do it; however, I was told that if you change the height it is best to get an alignment done, so you may as well have your shop adjust the height if you don't like the initial setup.
Overall, I am very happy with the KW HAS / Eurocode setup.
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