Brian from LA. Bought a 2022 Q5 Prestige, used. Happy with the vehicle. It's my first real luxury car. I usually just buy my wife BMW and I stay low profile. Last vehicle was an MDX. Q5 is a little smaller for my height but I'm getting much better gas mileage.
Welcome to Audi land. The cross members are easy to remove but you cannot remove the rails themselves. Have a play around with 'Drive Select' to see which mode best suits your driving conditions and style. I am 6'5" and I have no problem adjusting the seat/steering wheel for my height.