I bought my 2005 S4 w/ auto, but I definetely would have gotten a stick if I could have at the time. However, similar to Jim986 I also have 350Z 6 speed, and it is really nice to just get in a car w/ an auto transmission once in a while.
The pedal shifters are freaking sweet, but I noticed they freaking vacuum gas right out of the car. Of any car I have drove w/ an auto, Audi really is leaps and bounds above them with the work they have done in their auto transmission. It is so fluid and smooth. Really adds to the luxury aspect....
With all that being said. Get the manual!!

 

thanks everyone. One more question to all you out there. I have two choices get a
-2001 Audi S4 with 20k miles and 6 spd manual with the v6 engine.
-or spend more money and get a newer S4 with the V8 engine?