I went from BMW X5 to an Audi twice, and I'll never go back to BMW because:

1) BMW is ridiculously over priced
2) maintenance after the warranty is ridiculous if anything major happens.

That being said, I'm done with German cars altogether. I had an accident in my 2016 Q5 on Thanksgiving and the front of the car basically disintegrated, while the 2013 Hyundai Elantra drove away with a cracked bumper and a broken tail light. And when I say disintegrated, i mean $12k in damage from a mild rear ender. It's also had 5 recalls in 2 years.

I've already ordered a 2018 Tahoe to replace the Audi once it's fixed.

Nothing personal about BMW or Audi, I'm just done with both for those reasons.

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You have your way. I have my way. As for the right way, the correct way, and the only way, it does not exist.