Range Rover Sport any day of the week.
Interior is much better...Q7 looks just like any Audi. The ride in the Range Rover is in a different league, it handles better, it's head and shoulders above the Audi in terms of looks, I always get the impression a Q7 looks like an off road hearse. And the RRS has off road ability, which in the very least guarantees you'll get to work when it snows.
If you can find one, although they're rare, the TDV8 was carried into the facelift RRS briefly. It's only got a tiny bit more power from the 3.0 V6, and costs a bit more to run, but that engine is a perfect match for that vehicle, and offers a lot of scope for a remap.
I've driven both extensively and the Range Rover felt special...the Audi felt like all other diesel Audi's...boring.
If you're desperate for 7 seats...better still than the RRS, the Discovery.