I had an E61 535d touring with a beige interior - it looked fine after 30k miles, though of course no children here. My Father has also had a 525d Touring from new; it's now 7 years/120kish miles old and the beige interior in that looks pretty much as it did when it was picked up. They live in the depths of Yorkshire, so it's seen more than it fair share of mud and muck!!
Audi used to do a nice dark blue interior, which I really wanted for the A4, but in S-Line trim black was the only choice :-( The dark blue carpets/dash/door trims were also available with 'vanilla' leather in the old (old) A6, and I always thought that looked stunning as a combination
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