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At the end of my drive, the chassis engineer asked whether the new front axle layout made much difference. I didn't want to offend the guy, so I made noises about the improved steering accuracy. But given that he'd asked, I had to say the S5 still felt nose-heavy and lifeless at the limit. "Exactly," he flatly replied.

Seems the new layout means he can make the car far more playable, but the marketing types told him he had to pull it back to the usual Audi understeer because the customers like it - but have they tried anything else? Ah well, here's hoping he gets his way on the RS5.

If that sounds like a wasted opportunity, you have to remember there was another reason the front axle was redesigned: proportions and style. With the new pedestrian protection rules, all cars are getting longer in the nose, and that's not a good look.

Audi was already the maker of some of the world's biggest-conked cars, so if it hadn't done something to shift the wheels forward the overhang would have grown ridiculous. You'd have been driving through Lancashire and your front numberplate would already have arrived in Yorkshire.

So, this car I'd been looking forward to just didn't ignite my fervour. It's like when one of your favourite songs gets bashed out by a very competent covers band at a wedding. All the substance is there, but the edge has been taken off just to make sure the assembled aunties and pre-teens won't get their ears mauled.

Never mind, I bring better news. The A5, with its V6 engines, is a lot more satisfying. It's cheaper and makes a better job of dovetailing expectation with execution. Audi's 240bhp 3.0 V6 diesel is one of the very best for the way it spreads huge torque over a wide rev range and doesn't make any racket while it's at it.

And because any turbodiesel has a less sharp-edged accelerator response than a V8 petrol, the mute handling isn't such an issue, because the car bids you drive it in a different style. And then you notice the ride is really fairly supple. With quattro drive to contain the thrust, the A5 TDi is a good buy at £33,430.

These two arrive in July. After a few weeks there'll be a 3.2 V6 petrol. There'll also be a 2.7 diesel, and next year some four-cylinders, a 1.8 Turbo 170bhp petrol (from £26k) and a 2.0T 200bhp.

A cabrio version of the A5 is coming down the pipe too, and, yes, you can imagine exactly what it'll look like. Never mind what BMW has been up to with the folding hard top 3-Series, the A5/S5 cabrio gets a canvas roof. Audi people insist canvas is lighter, takes up less space when it's folded and if it's properly done is just as quiet roof-up.

I'm pretty sure too that the cabrio is the reason the A5 has such a minuscule back seat - the coupe uses a bench designed to fit around the cabrio's folded roof, so it's narrow and there's less legroom and headroom than in a Mini. As you can imagine, that's cramped. But negotiate yourself a front seat in the A5/S5 and it's a very good place to be. Audi still does cabin design and materials and illumination better than anyone else.

If you want more space, get the new A4. Not that that'll be exactly just a saloon version of the A5. The A4 will have a narrower track and have to do without some of the coupe's expensive aluminium bits in the suspension.

But the A5 does give us some clues that the A4 has the potential to be a fine saloon. Even a great one, if only Audi will allow itself to release all the potential.

Paul Horrell