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Not really a fan of SUV's, and not a big fan of Audi's in general!. But, while we would normally suggest folk avoid the DSG gearbox, the Q5 presumably has the more durable 'wet clutch' variety. As for the space, the figures suggest very little difference in boot volume between the two (540l for the Audi vs 589 for the CR-V). I can well see the advantage of the flat floor of the Honda though and looking at pics on Autotrader the Audi appears to have quite a pronounced hump in the middle.
The fact that your wife wants the Audi shouldn't be underestimated(!), but how much of a factor this is would depend on the strength of her feelings. Only you know this, and you will have to live with her should you choose the honda. If she is really set on the Audi, you should probably go with that to keep the peace, i doubt you'd be dissapointed. But personally, i'd go with the Honda for two main reasons (i'm ignoring my particular feelings about Audi here).
1, The flat rear floor, because you have 3 kids and keep your cars for a long time. Due to the current age of your kids, this wouldn't be an issue an issue now, but will definately become one as the kids get bigger (especially their legs!). This, along with the bigger boot means it is going to be more practical long term.
2, Running costs. As you plan to keep the car long term, the Audi's (potentially) lower depreciation won't be a major factor, so the greater economy of the Honda would swing it for me. Yes the Audi has more power, but neither are sports cars and the Honda has plenty for my needs.
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