We all know German manufacturers dominate the luxury car segment with their offerings, the Audi A8, BMW 7-Series and Mercedes S-Class.

All three are fantastic luxobarges, packing the best the automakers have to offer in terms of quality, refinement, and technology. But which of these full-size luxury sedans is the most fun to drive?

That question might have been easier to answer 20 years ago when the 7-Series E38 reigned supreme when it came to dynamics. But does that still hold true right now that competitors have upped their game tremendously?

Autocar’s Matt Prior and Dan Prosser drove the latest Audi A8 and BMW 7 Series to find out. What about the Mercedes-Benz S-Class, you might ask? Well, the segment’s sales leader didn’t take part in this showdown because it’s a much more comfort-oriented car than its rivals, designed almost exclusively for rear seat passengers.

Also watch: There Can Be Only One: New A8 Goes Up Against S-Class And 7-Series

So, which of the two is the segment’s best driver’s car? Interestingly, both models feature all-wheel-drive systems, so they’re quite level on that front.

It’s a rather fair fight when it comes to engines as well, as both cars feature twin-turbo 3.0-liter six-cylinder engines. The Audi has a V6 rated at 286 PS (282 hp) while the BMW has a straight-six pumping out 320 PS (316 hp).

As for the driving experience, we’ll give you only one spoiler. The steering is much better in the BMW than in the Audi. It makes the car feel smaller and thus more agile, which is what a driver’s car is all about. Is that enough to beat the A8? The video provides all the details.