The Atlas was never a real successor to the Touareg. The Atlas was designed to compete with the Ford Exploder while the Touareg was aimed at the MB ML/GLE and BMW X5. It's like saying the Jetta is a replacement for the Phaeton.
VW has no replacement for the Touareg in their US lineup.
Touareg was designed as an upscale European luxurious performance SUV that’s quite capable off-road. The Atlas was created solely for the purpose of the American market where the amount of seats and cup holders is a priority.
There is no direct or even indirect comparison between the two models.
VW sells a lot more Atlas and Cross Sport SUV's in one year than they did in 5 years of selling the Touareg in the US, it's a shame for Touareg owners not to be able to buy the current version available in rest of the world.