There is an assist spring (it's called an "over-center spring"). It's main job is to reduce the effort needed to hold the clutch pedal to the floor. It also helps to give the pedal motion a more "linear" feel, rather than an "additive" feel as you push it down further.
In my car, I'm using a heavier B5 S4 over-center spring with a stock B6 1.8T pressure plate. This has the effect of making it a very "easy" clutch as far as force applied. Indeed easier to hold to the floor than a stock 1.8T setup. Other people complain that my clutch is "too light!". Like you, I do a lot of driving so I very much prefer it.
There are 3 different over-center springs for the B5 chassis, based on engine: 1.8T, 2.8, or 2.7T. The spring "assist" is increased to help with the added clamping force (and thus pedal effort) required with the higher torque engines. The heaviest spring is used on the S4, and is also used on the C5 A6 2.7T and Allroad 2.7T (6-speed of course).
I think this would be the easiest and simplest thing to try first. Swap to the heavier spring and see how you like it. If that didn't do it, you could probably fashion an additional spring - perhaps something more like the "external" spring design
used on the B6 chassis.
EDIT:
Here's a link to the B5 S4 spring:
http://www.ecstuning.com/Search/8D0_721_449_Q/ES430248/
I will say it's not super easy to change the spring. I removed and installed the spring outside the car with a good amount of effort. There is a lot of spring load to deal with. I think I used a pair of pliers to get it in there. I don't know how much of a pain this would be under the dash.
Bookmarks