Audi D/S mode

Ok. I’m wondering if anyone can explain it like I’m a young child or golden retriever (to quote Jeremy Irons in Margin Call)

I recently picked up a 2020 S6. I love it. I understand the drive modes (comfort, auto, dynamic, individual). But I can also switch between D and S (as well as slide to “manual”).

Can someone help explain what, if anything, truly happens if it’s in Dynamic and moved to S? All I can truly tell is that the exhaust is a little more present in the automatic shifts and it downshifts a little sportier.

tl:dr what is the difference between D and S in dynamic drive mode

Thanks in advance