The optional dynamic all-wheel steering in the Audi A6 is unrivaled among the competition. It resolves the conflict of objectives between spontaneous steering response and superb handling stability. The system combines dynamic steering at the front axle, which uses an infinitely variable strain wave gearing, with a separate rear axle steering system with a spindle drive and track rods. As such, the steering angle at the front and rear axle can be adjusted independently of each other.