The RS6 engine WILL physically bolt to the 01E 6 speed, or 012 / 01A 5 speed in a B5, but it'll stick out a hell of a lot.
The RS6 block is shared with no other 4,2L V8 40V in the Audi range, the bellhousing bolt pattern is completely unique, so it won't bolt to a manual box, not without the use of an adaptor plate.
The spacer ring used between the AGB / AZR motor, and the 01E 6-speeder, is 11,2mm thick. The adaptor plate to mate the RS6 motor to the same box will be at a minimum, 30,0mm thick. More forward length, which you don't need.
The only way would be to build an RS6 into a regular 40V block, or start from scratch with a regular 4,2L n/a motor.
I'm going the S8 (4,2L V8 32V) route in my car, and once engine's in the car, and running, I'll decide what sort of exhaust manifolds I'll need to run a pair of turbochargers, in the available space.
I sold my modified S4 biturbo motor, in favour of the S8 one, as I'm a firm believer in not trying to reinvent the wheel.
Stick your hand in your wallet deep enough, and the V8 has far greater potential, as far as power goes. No substitute for cubic inches, regardless of what some sceptics may say.