Not an apples to apples comparo, but I have the non-res Milltek on my S6. Previously I had Milltek systems on my B8 and B6 S4's. I have a bit of drone in D mode at the right RPMs. Almost a vibrating like feeling/sound that at times has me questioning whether it's touching the body of the car somewhere. I have gotten used to it, but it was annoying after the initial installation. Non-issue is S mode for some reason, and if not for the ridiculously violent 3rd-to-2nd downshift at anything other than hyperspeed, I would just keep the car in S mode. Can't speak to the RS7, but all of my Milltek systems have bolted up to the car and my local tuning shop has been able to do the install. On my B8 S4, my neighbor and I knocked it out on jack stands in my garage. No fitment issues. I have never heard of Audi voiding warranties based on an exhaust, but that's an open question and could blow in whatever direction the Audi winds are blowing. Tunes, and suspension mods are usually warranty killers, with intakes possibly as well since Audi specifically mentions them in their TD-1 guideline letter to dealers. I have never had a dealership give me any flak about an exhaust.
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