Thninking about Audi but know nothing

[21TonyK]

Just a quickie. I'm going to have to get a "sensible" family car. Got an X5 at the mo. but the tailgate is too high for the dog and it's due to be changed this year.

Instinctively I looked at another BMW having had a string of them but TBH I fancy a change and Audi is next on the list. Knowing nothing about them what sort of car should I bee looking as a comparison to a 5 series 530/535d? Looking for plenty of torque with decent performance but reasonable economy. All the toys, ie. nav/TV are a pre-requisite. 4WD would be nice but not essential.#

Thanks