That Audi 2.5 v6 is the old one; 163bhp in 2wd, 180bhp in 4wd. Belts at 70k which is a big job and most change pump/pulleys/tensioners/followers at the same time ~£700 plus. The 163bhp is a bit under powered in an A6. I had mine chipped and it was like chalk and cheese. That engine is very, very reliable and the one I had (03) was pre DPF/DMF.
If you can find a VAG 2.7 v6, it’s 180bhp in 2wd and chain driven cams so no nasty periodic belt jobbies. Again no DPF/DMF in the one I had (07) and again chipped for extra fruit. Similar economy to the 2.5l at ~38 mpg overall.
Currently on the V70 D5 mentioned above. Yes its pokey at 215 bhp but God the car is dull… Again ~38mpg mixed up to low 40’s on a run if I behave.