There are 3 generations of S4(I have owned 1 of each)
gen1 circa 1993 5 cyl single turbo definitelly needed to be flogged for serious results, but very fast when driven thus.
gen 2 circa 2000 6 cyl twin turbo, faster, doesn't need to be flogged as much as gen 1, unless chipped
gen3 circa 2004, V8, n/a it's a whole nother ball game doesn't need to be flogged at all just faaasst.