FL1 and FL2 are all the same with the external return pump which, from Elsawin, is 5.3. The Allroad and C5 S6 prefacelift also use 5.3.
The 5.7 Nakata refers to turns up in the C5 A6 Facelift (02-05). This has ABS and ESP integrated in to the main pump block, with no external ECU or return pump. It makes sense that it would have a better pedal feel since it doesn't have the external pump or extra plumbing.
I'm entirely happy with decent calipers and a brake block, but that doesn't make it any less interesting or valid from an engineering perspective