The criticism of the CVT is over egged. I watch car reviews by journalists with a very large pinch of salt. I much prefer to listen to owners, preferably someone who has just sold their car - you get a more balanced view. If you drive a car with a CVT like a racing driver all the time, then I can understand the revving might get a bit tiresome. Most people don't drive like that and as others have said, you adjust your driving style to the car without realising it. Seamless is the best way to describe the acceleration. I can only speak from the experience of owning a RX 300 and RX 400h. Both really good cars - try driving one over a fairly uneven cinder car park - the ride I would describe as smooth! The LS 400 is special and I feel it is fruitless to try and compare it with any SUV let alone large saloon. The engineering is a wonder to behold - you own a 22 year old car that even today has few rivals. The practicalities of life unfortunately get in the way. Kids, dogs, moving long items all really need a MPV, SUV or large estate. Imagine if Lexus had taken the LS 400 and made an estate car version? Wow!
My advice, for an everyday car, would be to keep the Audi for practical reasons and drive the LS more.