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Unless you are combining the renting of a car to drive on your trip with an opportunity to evaluate a car like the Mustang or the Wrangler for possible purchase I'd rent the BMW or the Audi.
Now I did own and put >150K miles on a '96 Mustang GT: 4.6l V8, 5-speed manual; and it was a nice drive but unless you are a big fan of top down driving the Mustang convertible will be a disappointment on the road.
As for the Jeep Wrangler... I wouldn't.
More than once I drove from CA east over I80 or 50 and I don't recall any real issues with diminished power at whatever altitudes were encountered. While I did not drive at any higher elevations in the Sierras I'd recommend a vehicle fitted with a turbo charged engine would be preferred to better deal with the altitude.
I did drive the more southern route (I40 starting at Barstow) more often and my naturally aspirated car engines were ok at Flagstaff (~7K feet). And off of the interstate at Steamboat Springs (~9K feet) in a rented Cadillac the engine manifested a noticeable loss of power. And on I70 at the highest elevations such as the Eisenhower Tunnel (~11K feet) on I70 in Colorado I almost had to get out of the Mustang and push it up the mountain.
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