The S5 and my previous ZSEV auto headlights are terrible - just turn it off. They take about 2s or more to react (if they do at all) and just annoy everyone else on the road.
My previous car's headlights were utterly amazing (2015 Merc E220D cabriolet) with "intelligent LED Light System". It's not a simple dip/high, but the beam "shapes" round the vehicles in front, so the main beam stays on except in the bit cut out around either rear brake lights or oncoming headlights ahead and changes dynamically as it moves. The beam also tracks round corners, so when you're going round a right hand bend the beam swings right to illuminate the road you're heading onto. Everything happens in an instant, zero delay and I can never remember being flashed. I bought the car 2nd hand and didn't even notice the £2k+ optional extra on it, which turned out to be the best bit of tech on the car and I've never come across anything like it in any other car. There's a video
here and
here which gives a flavour but probably doesn't do it full justice.