I have owned all 3 in the past but have only driven the newest BMW 5 and I thought it was pretty bad. It was soft and the details were very basic. I hated it. Haven't looked at a Benz in a long time but all their cars seem to be "chromed" out. The Audi looks awesome and their cabins are class leading IMO. My gut tells me the Audi would be the best driver of the 3. A bit firm and tight. Forget the service interval deal as it really amounts to a few oil changes. Do you want that to determine what car you buy?
In the end they are probably all pretty close to most buyers and for me the best dealer of the 3 would be a huge factor in my decision ( I live in a area where there are only one dealer of each brand within a 75 mile drive).
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