I have a slightly newer version of the Toyota you mention, also with the CVT 'box. I generally rate it, and went into considerable detail on the pros and cons in my review on this site.
I'll grant you, it's no fireball, but that's because it's a naturally aspirated 1.8 (albeit a very good one) rowing along a 1.5 tonne estate car. The manual (which we also tested before deciding on the auto) is also, you've guessed it, not going to be amazing in the performance stakes.
However if you want an auto because you want smooth driving, it's a very amiable thing to drive. If you want to press on (a bit!), there are plenty of ways to do that without getting CVT "droning".
For us the number one thing a car needs to do is not go wrong, and we're not fussed about the badge, so the Toyota was a clear choice for us.
If you want performance the Audi is probably going to be the quickest, at least in terms of in gear performance which is what really matters in day to day driving. But you're paying for the badge - as you also are with the BMW and Merc.
Do you want reliability? "image"? Driving pleasure, such of it is available these days? Toys? Comfortable suspension?
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