The Audi S6 made a brief appearance for one year in 1995. Back then it was essentially a rebadged S4. With the advent of the mid-sized A6 sedan and wagon, the time had come for a performance-tuned version. So in 2002, Audi brought back the S6. Oddly, though, the S6 was only available in the U.S. as an Avant wagon, offering a unique blend of practicality and cargo room with incredible speed and sporty performance. In an effort to make the most of its 4.2-liter, 340-hp V8 (a hopped-up version of the A8 engine), the 2002 S6 boasted aluminum body panels and subframes in an effort to reduce the heavy weight of this mid-size wagon. It featured a firmer suspension, larger sway bars, and lower ride height. Quattro all-wheel drive was standard. Though tuned for sports performance, for some reason it only came with a 5-speed Tiptronic automatic transmission with no manual option.

Cosmetically, the S6 included special badging, flared wheel wells, a double grille, dual exhaust pipes, and chrome mirror housings. These were subtle distinctions from the A6. The 2002 S6 still maintained the classic sophisticated lines and elegant interior associated with the A6. Leather seats, 12-way power adjustable seats, power mirrors, dual front and side airbags, automatic climate control, and cruise control were just a few of the numerous standard features in the S6. Front seats came standard with side bolsters to hold you in when the S6 took off, though flatter seats were an option. Optional packages offered heated rear seats, a parking sensor, rear sunshades, and a solar sunroof which powered a ventilation fan when the car was idle. ABS brakes, BrakeAssist, and electronic stability added to the quattro confidence on the road.

Few 2002 S6s were brought to the U.S., so it is a fairly unique vehicle over here. Drivers love its maneuverability around the city, and its speed, handling, and road grip out on the highway and country roads. The S6 loves to go fast, and while it is fun to drive, it does eat up gas. The interior is very comfortable and roomy, and the trunk space is immense, especially with the rear seats folded down. Criticisms focused on the lack of a manual transmission option, wind noise and shudder when the sunroof is open, and a poorly-built navigation system.