Replaced the driver's window motor under warranty (window went up when you hit down).
Replaced the entire dashboard surround under warranty (warped in the sunshine).
New radio head unit (LEDs wouldn't light up) under warranty.
Sunroof rails replaced and lubricated under the extended warranty.
New driveshaft boot gasket (or something) at 60,000 miles.
That's it.
Beautiful design, very solidly built. Driving the car is a delight - tracks well, corners well, acceleration with the 1st generation V-6 is not very good, particularly with the Quattro AWD.
Comfort is great, the Bose stereo is very good.
Not the cheapest car to service, but the number of repairs has not been excessive for 65,000 miles and 5.5 years - unlike others I have not had any significant electrical problems or suspension/steering problems.
Acceleration is OK-7.8 sec 0-60 for 1996. It is kinda slow in first gear, but as soon as you get into second it goes quick enough for most drivers. Otherwise buy S4 bi-turbo and you will never complain :)