Went with the Fusion, was only comparing manual transmission versions.
A4 was quick and more luxurious of course, but wife nixed it bc it was way too small to carry people in the back. A driver's car and that's it. Alos to keep the price the same, was comparing 3 yr old Audi to new Mazda and Ford.
Mazda6 was smooth, but technology inside was old .
Fusion was very sporty, big backseat, best technology. Also liked the styling better than the 6.
I've had the Fusion 18 mo now and still very happy with it.