SUVs are everywhere. You can’t turn a street corner without seeing one, or two, or three. Big ones, small ones, off-road ones, on-road ones, sporty ones. There’s almost certainly something for all tastes and all budgets.

Audi’s SQ5 falls into the sporty category and, unlike the first generation which was only available with the firm’s 3.0-litre BiTDI V6 diesel in the UK, you can now opt for the 349bhp 3.0-litre turbocharged petrol V6 found under the bonnets of both the S4 and S5.

It's a well-proportioned car. As with Audi’s other sporting interpretations of their mainstream cars, the styling upgrades are subtle, which means you’d be hard-pressed to tell the SQ5 apart from its less powerful siblings without closer examination.

The bodykit is more aggressive – enhanced by the 30mm reduction in ride height – but there are some truly disappointing and obviously fake quad exhausts on display. My test car was fitted with 21-inch alloys – the SQ5 rides on 20-inch rims as standard – as well as the optional air suspension (£1,000) and Sport differential (£1,200).

Also standard is Audi's eight-speed tiptronic automatic gearbox which can be a little sluggish to respond from a standing start but, once on the move, it's much more alert, particularly if you're using the steering wheel-mounted paddle shifters.

Audi's Drive Select provides four driving modes – Auto, Comfort, Dynamic and Individual – to suit whichever mood your're in. Dynamic offers the most driver-focused experience by sharpening up throttle response, adding a little more meat to the steering, makes the gearbox a little more assertive and, if you've opted for the air suspension, firms up the ride.

There is a palpable change in the character and poise of the SQ5. Body control is excellent through tight bends and it shows a remarkable willingness to change direction through tight bends. It is hampered a little by steering that's a little numb, leaving the driver feeling a little disconnected from what's going on beneath the front wheels.

At the other end of the spectrum Comfort mode dials everything back, including the air suspension, and suddenly the SQ5 is a quiet and competent limousine capable of wafting its occupants along in a relaxed, almost silent, environment.

Material quality is, as always, of the highest order. There is plenty of soft, squishy plastics across the dashboard and robust switchgear and buttons throughout. It’s flawlessly put together too, with excellent ergonomics. Plus, of course, you get the company's sophisticated and superb Virtual Cockpit which replaces the traditional instrument binnacle with a high-res 12.3in full colour TFT display.

The seats, bound in fine Nappa leather, are comfortable, supportive and electrically adjustable, including four-way electric lumbar adjustment. There's plenty of flexibility in both seating and steering positions so finding your perfect driving position should be within the realms of just about anyone, regardless of shape or size.

Visibility is excellent. The Q5 is blessed with relatively slim pillars and a generous glass area which means the manoeuvring at junctions and car parks is easy, and made even easier thanks to the inclusion of front and rear parking sensors as standard. Should that not be enough, you can also add a rear view camera to the options list.

There's no shortage of space for occupants and their luggage. Front seat passengers are particularly well catered for, with ample head and leg room.

It isn't quite as accommodating in the back where, while there's room enough for three adults to share the rear bench comfortably, the middle passenger is forced to straddle the intrusive transmission tunnel, something that might induce some discomfort over longer journeys. There's a moulding in the roof that impacts on headroom too so my advice would be always grab a window seat where you'll benefit from greater knee and leg room, even if you're above average height.

Audi's excellent MMI Navigation Plus infotainment system comes as standard. Everything is controlled using a rotary dial controller and shortcut buttons between the front seats, which you use to scroll through easy-to-follow menus. Apple CarPlay and Android Auto smartphone mirroring are both standard.

Boot space is generous and, thanks to the 40/20/40 split folding rear seats,

In the back, there’s enough width for three adults to sit side-by-side, although whoever's sat in the middle is forced to straddle a large tunnel that runs along the centre of the floor. A moulding for the rear ceiling light pinches some head room, too. The two outer rear seats are much more accommodating, offering loads of head room and a decent amount of knee room – even for those long in the leg.

In the rear, you get folding seats arranged in a 40/20/40 split. These are easy to stow away thanks to a couple of handy levers placed next to the tailgate opening. Sliding and reclining rear seats are also standard, allowing rear passengers to kick back and relax on longer journeys, though it’s worth noting that even moving the back seats into their most rearward position doesn’t liberate a huge amount of additional legroom

The SQ5 has a bigger boot than its rivals from Mercedes and Porsche, and it’s a useful, square shape. It is certainly large enough to take the average family’s luggage but, while the space available is excellent, and the boot opening a good size, accessibility is hampered a little by a slight lip which means that you’ll find your self having to lift bulky items over.

That the SQ5 is quick, by any measure, is beyond doubt but it falls short of white-knuckle, buttock-clenching ferocity. This is not an SUV trying to be a lithe, agile sports car and, in this reviewer’s opinion, it’s all the better for that. Drivers who like their journeys drenched in thrills would be best served looking elsewhere.

Instead, think of it as a capable, comfortable and rapid limousine that throws in a healthy dose of practicality and it starts to make a lot more sense. It’s simply a matter of matching your ambitions and expectations with what the SQ5 can deliver. You certainly won’t be selling yourself short if you do.

Audi SQ5 3.0 TFSI Quattro 345PS tiptronic

Price: £49,715

As tested: £62,405

Engine: 3.0-litre V6

Transmission: 8-speed tiptronic

Max power: 345PS @ 5,400 – 6,400rpm

Max torque: 500Nm @ 1,370 – 4,500rpm

Max speed: 155mph

Acceleration (0-62mph): 5.4sec

Urban: 25.7mpg*

Extra-urban: 39.8mpg*

Combined: 33.2mpg*

Emissions (CO2): 195g/km*

*With optional 21in wheels

For more information visit www.audi.co.uk