The B5 and all of the Audi’s from the late 90’s-early 2K’s were all very basic, but I’d say so was just about everything else at that time that wasn’t a supercar. To be fair, the original B5 came out in 1994, which means it probably started development in ~92? It stuck around for a while but I’d argue it was probably softer and cleaner than the Mid 90’s BMW’s which were the struggling transition point between the 80’s and the perfectly proportioned E39/E46.
I like the new MB stuff a lot. Saw a new C43 coupe last night on the road, and for the price point that thing has one of the nicest butts shy of a 911. MB has an old man stigma but I’m willing to admit that my VW rides too harsh and sign up for one. 