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short verdict:
The more powerful and lighter BMW 5 easily wins that comaprison with 49/37 (out of 60) pts. The S6 loses against the M5 as the (Lamborghini) V10 si limited to just 435 bhp and the S6 weighs about 150 kgs more than the M5.
S6: 435 PS / 2003 kg = 217 PS/ton
M5: 507 PS / 1858 kg = 273 PS/ton
So the M5 beats the S6 in all aspects, it is the much sportier and better to drive, the S6 is perfect grand tourer with a lot of power and a pretty good handling due to the permanent 4WD.
S6: 172 EUR/PS
M5: 174 EUR/PS
M5 / S6
0-100km/h 4.7 / 5.9
0-200km/h 14.4 / 19.8
18 meter slalom: 66,6km/h 63,9 km/h
Hockenheim 1.16,3 min 1.18,3 min