What this gentleman said. I've been satisfied with new speakers and the kicker hs10 sub along with some forscan mods (all detailed in the thread he listed). Im sure the kicker amp does great things too.You probably already know, but there are a ton of options that just depend on how much you want spend, are you going to do the work or have a shop do it, etc. I've already wasted my hard earned money on an audio recording studio quality stereo setup in a few trucks. This time around I wanted better than stock audio without breaking the bank. To each his own though....
To get you started take a look at this thread Speaker Upgrade Best Bang For The Buck
Like I started saying, there are a ton of options and opinions. Changing out your speakers first is a start. I swapped out the F/R speakers first and while it sounded better, it still lacked fullness to me. I went a little further and added a Kicker Key 200.4 amp and Kicker HS10 sub behind the rear seat back - huge difference in fidelity, fullness, etc.
Any way, give that thread a read to get you started.
I was actually just going to say the same. I like the B&O system in the Audis we've had 2 and they sound pretty good.It's interesting that the B&O system is that big of a disappointment because in the Audi vehicles it's been very nice. I have a RC XL truck, so I'll be having to change out speakers and add a subwoofer setup. In my 13 Raptor SCREW I had the factory Sony system, which was terrible. It got replaced with Focal speakers and a JL 12" sub. SO much better.