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I have a 97 c5 Coupe A4. Mods I plan to do are long tube headers, ls6 intake, and possibly ls2 or ls6 heads. I want a cam that is streetable but I dont want to be saying "wish I would have gone bigger". What will give me good/great power but wont make the car idle horribly?
Steve is right, decent duration and lift are key to good hp/tq gains. Popular cams are the TR224 and G5X1 (228/232), G5X2, G5X3 (similar to MS3). Drivability/idle is definitely affected by the cam, but the tuner can do a lot either way. I was able to get a friends MS3 to idle smoothly at 750 rpm and I've had my 228/232 .590/.588 112+4 idling smoothly at 650....however I had charging issues with my underdrive pulley so I upped the idle back to 900. I'm not even close to the professionals that are here on the forum. Good tuners can get your car to run and drive like stock even with some beastly setups, talk to your tuner of choice and go with what they're comfortable with and what they feel will provide good gains.
You can not get too wild without a stall the car will fight you at the stop sign. I installed a 224/228 xer without a stall. When I took my foot of the brake I could go 20 mph without hitting the gas Get the stall and put in the cam you want the first time
Its very easy to 'over cam' a car. The difference in HP between that 220R cam and the MS3 cam is 20 to 25 HP. Unless your car has ever single item needed by that bigger cam its performance will be compromised.
List of items needed by big cam:
In addition to your list
optimized DCR
hi stall converter
rear gears
pro tune / dyno
beefed up trans to handle high RPM shifts