Never owned an A6 but we had an A8 for a bit. I genuinely think you would have to go to a Bentley or something comparable to out do it in terms of luxury. The problem is the engineering. So much gets crammed in that when things go wrong the simple part is crazy expensive to fix. For example, the thermostat started to stick and the engine would start to overheat. I think it was like a $20 part but because of where it was it ended up being a $1,000 repair. So, if you get one certified that has warranty, you will be fine. Otherwise, just assume it is going to cost you a few grand at a minimum to keep up every year.
As for the engine and emissions, I can't say. I just thought that i would share my experience with the brand. To be fair, this is going back 10 years so things could be different now but it has kept me away from Audi.