Yes, the OE sub is a "standard" 6.5" basket in stamped steel - very common, likely a $5 driver from Asia. As you search around you'll see not many or any direct-fit drop in spare tire subs that at best result in some issues with the factory folding floor cover not resting flush. Most folks end up with a separate enclosure and the typical issues with integration. I have recently been using just the factory door woofers - took the OE sub out weeks ago while setting up for some RTA measurements. After fiddling with the DSP I was able to make the OE system sound as good or maybe bit better than with that poor little 6.5
One of the smaller JL loaded/powered options is likely your best overall solution unless you need to have an SPL/SQ type of system (Sound Quality - not that other Audi model that costs way too much

). I powered up a legitimate high-end sub on a solid 1kW amplifier and at one-third gain the output was too much for the OE woofers to keep up with. At some point in the process a high output sub, while trying to keep the response "balanced" will force the stock woofers into distortion unless they have additional high-pass filtering.
I tried some quick/dirty passive filters (simple series capacitors) and was able to reduce the distortion in the woofers but then that allowed the my big sub to go even louder so eventually (and prematurely) the B&O system just did not have enough RMS power to keep up. It's a shame because the ease of use of (with or without the desirable factory sub level control) the B&O is great and the SQ is is like a 7.5/10, in my humble opinion, if you can accept "medium" system volume (say in the 90-95dB range). I do not have a complete set of measurements to prove what my old but experienced ears are telling me but essentially the complete B&O system is really much like any other - it is a Wow for those who do not know any better but for some of us it just does not meet our expectations.
For just me that is really the frustrating part, the upgrades would be relatively simple and not expensive if the MMI/B&O system was like others that allow the main head unit to be swapped out for an aftermarket. There is the option to go outboard DSP but that ends up begin to much $ for me personally to justify.
Hope this helps.
Cheers,
Scott
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