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Personally, I vote to retain the UrS4. I think it is a better-built car than anything on your list and certainly easier to maintain for the home mechanic. But, if you must replace it, I would go with the S8.
Touching anything on the front of the motor of the S6 requires removal/extension of the front bumper/radiator carrier. Access around the V8 is tight. I believe the Passats are similar.
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