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So I stopped by Audi Tradition's storage warehouse today while on a trip through Ingolstadt. I was chatting with one of the kind AT folks who was walking around with me and we were looking at the RS2 sedan prototype they have there. The thing is grey, a favorite color of Ferdinand Piech, and the story on that car is that Piech drove it for a while when it was first built. It's the only one they ever put together and it remains in their collection.
Here's the interesting bit I didn't know before. They also said that Audi built one coupe as well. I asked what happened to it and they said they didn't know. They said they could probably call head of development at the time (now retired) and he might know, but they weren't sure. Man, that'd be some barn find.