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I have ADS on my new S5 but without dynamic steering. However I can change the steering feel to extremely bloody heavy to extremely bloody light. I also have 'auto' which changes its characteristics based on my driving style.

Has anyone driven a car with and without dynamic steering and can describe to me what the difference is from what I have to a car with dynamic steering?

Dynamic steering alters the ratio of the steering but it also alters the feel as well. I guess if you don't have dynamic steer's then the servo tronic unit is just increasing the pressure on the column.