When it finally arrived in the United States as a 2021 model, the Audi RS6 Avant was the first admission from the automaker that we could finally be trusted with one of its most desirable products. Yes, Americans had experienced the RS6 before, but only as a sedan and only for the 2003 model year. Even after lots of anticipation, the twin-turbocharged station wagon wearing those four interlocking rings somehow lived up to the hype.

Audi is celebrating the model’s 20th anniversary this year – it debuted in some global markets in 2002 – and the automaker arranged for every generation of Avant, as well as a lone second-generation sedan, to meet up in the scenic Canadian city of Banff, Alberta. And after a few days driving the modern RS6 Avant and its forebears, it’s hard not to feel snubbed by the fact that we had to wait this long for Audi’s finest grand-touring estate cars.