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RS6 does seem to suffer with suspension issues. Not sure what the SL55 is like but the 2 cars are very different so if you don't need the practicality of the Audi go for the Merc
Both amazing animals in their own right and far to hard to compare. Have driven a number of SL55's in my time and they never fail to put a smile on my face.
I think the practical person in me end up having the RS6 just as it can do everything you would want and take the kitchen sink to the dump on Sunday.