Well, in all honesty, VW are the "Toyota"; Audi is the group brand that one should compare to Lexus. That said, I find it entirely plausible that the Audi experience would not be too dissimilar.
That being said the Audi drove a hell of lot more smoothly and beautifully but just stuff needed to be tweaked and fixed all the time.
Toyota (and Lexus) just know how to make vehicles that run super well for long periods of time.