I drove and compared both...
I thought the Audi was rather boring and soulless, although I'm sure it's a good vehicle.
I liked the higher up position of the D-5 and with the air ride ride much nicer to drive..., I don't want to wrap it around curves and the D-5 does feel planted enough for me.
Sure a few hiccups with the software and a few minor issues with the D-5 but no more than any other new car I have bought.

 

I just switched from a Q7 2018 Premium Plus to a Disco 2020 HSE Luxury - So far I fell that I made the right decision. Don’t get me wrong Q7 was a great car but I had several small issues (including be without AC in a middle of a travel in Florida). But the biggest problem was the dealership network - I tried 2 different in DFW area and I had problems with both. So far my overall experience with Land Rover was much better - and the car is awesome! hope it helps.

 

One of those is basically a car and it’s not the Disco. I tow a twin engine 25ft boat totally 8000lbs full (probably 10,000 this last time after the bilge pump went out And it had a lot of water in it) and it handled it. It can go in 3ft if water because anymore it will float. I’m doing a road trip to Colorado this next month to go off roaring on trails in the mountains with it. I wouldn’t do any of the in the Audi.