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Faced this same question myself ~18 months ago. Went from 2000 Volvo V70XC to 2007 A4 Avant (which I loved) to 2013 Audi Q5. Couldn't be happier.
Q5 is built (I believe) on slightly modified A4 Avant/Allroad platform. New 2.0TFSI is a treat -- 258 lbs. of torque all-in by 1500 rpm (compared to ~200 @ 1800 for your 2004). Coupled to the 8-speed trans, a stiff and relatively light chassis (essentially a taller A4 Avant), and decent suspension the Q5 really is a joy to drive. And I get 26-28 mpg on road trips at 75+ mph, easily 2-4 mpg better than the 2007 Avant. More leg room (F/R), too.
Seriously, do yourself a favor and at least test drive one if you haven't already.
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Dale
1985 Carrera 3.2 -- SOLD
2026 Jaguar F-Pace / 2025 Ford Bronco Sport
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