Audi has it's own customers to satisfy. There are many people out there who don't like the way a BMW drives and those can always turn to Audi , Mercedes or even Lexus.

Especially in US , German manufacturers including BMW had to soften the suspension and the steering wheel feedback since customers over there like the cars more comfortable and less sporty. Remember that in Automobile comparison M5 was rated behind S6 and E55 AMG because it wasn't practical enough for everyday use. Having a harsh suspension and oversteering at the limit may satisfy some hardcore journalists but surely is not ideal for the vast majority of the drivers.

One last thing: when Audi officials said that they intend to offer the best driving dynamics they meant that the car will have top dynamics and drive like an Audi too , not mimic a BMW.