yes, handling is extremely accurate. I was also surprised by the Adaptive Steering System or smth like that. Comparing to BMW and MB it is sportier. When I was driving this S5 at 160km/h steering wheel was very stable and even when i was accelerating more and more steering wheel remained stable and wasn't shaking at all.
RS5 should have a much better gearbox. Gearbox of S5 felt... girlish. It felt like MB CLK: very soft, easy to change gear. For more agressive type of driving it is not really suitable. It seems like the handle can be broken easily if you get too emotioanl when driving. The clutch is a bit too long. You need to press it deep. I would prefer it to be shorter.
Other than that this car is perfect. Just add more output and you get a universal car that is suitable for both everyday use and extreme and agressive driving.