If you can find one, a stock RS6 system sounds great - even non-SE. I've had one going on 13 years now. Plenty of great blurble & overrun popping noises which were enhanced when I reworked the stock downpipe/cat combo. Not as awesome as the JHM longtube video above, but for sure wife, kid, & long distance tolerable. They are all stainless, so they hold up well...but my dry climate also helps with slowing corrosion of things. Sorry, no video, as the few attempts I've made don't come close to what it actually sounds like. I took the more difficult path of sectioning the tips to fit the S6 bumper so I didn't have to cut it.
Last time it was out for my 01E swap I welded in 2.5" v-bands to replace the slip joints. I also reworked the stock down pipes to eliminate the big automatic transmission dents, repositioned the spring hangers by the trans mounts, and cut the inlet/outlets of the stock cats to accomodate 2-1/2" pipe. It was about $200 (2020 dollars) for v-bands, flex joints, and 2-1/2" tubing + my time on the welder to "upgrade" the stock downpipes.
From Summit Racing -
x2 Flex joints PSM-82-4216
x2 V-bands HOK-41171HKR
x1 Tubing STW-MBJ250
I can't comment factually on the JHM allroad 4.2 system, but given that C5 chassis are dimensionally the same, it should fit with little modification.
Naked modified RS6 tip, stock S6 bumper
Finished
& the downpipe/cat/exhaust junction
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