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In my experience, pre-97 Mercedes had great interior quality and material. Anything made after 1997 from Mercedes is just garbage. Having said that, Mercedes are easier and better to work on from a technician perspective. BMW cut corners here and there when it comes to serviceability.
Audi interior have improved tremendously over the years and in terms of fit and finish, has surpassed both BMW and Mercedes, only behind Porsche. But Audi electronics are still crappy, just like BMW's. Mercedes software interface is better than BMW. Porsche is very reliable when it comes to software, but it is also years behind in terms of technology and functionality. Porsche is always the last one to have anything, but they are usually the best (eg. PDK transmission).
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A few cars... 
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