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Audi S5, or that's my choice. Under 20k might be tough though (look for MY10). Could go the A5 route, but not the same. Don't know prices on the S4 (or if you could find one, an RS4), but the A4 is kinda disappointing (previous models). BMW 3 series is always a good choice, but from personal experience, BMW service was more than Audi.
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