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I agree with drob23 about the Focus ST. The comment about balance in the segment is right on. It drives about as well as the Mazdaspeed 3, but is much more refined. It's actually quieter on the highway then my TSX, and its engine reminded me of the 328i's turbo four, though of course it probably is not underrated like the BMW motor.
I've also tested a Scion FR-S, and I absolutely loved it. I think the glowing reviews are generally accurate, but the electrically assisted steering is numb on center, much like that of many other cars including the F30 328i. The Focus ST would be a better daily driver for most people, and its EPS actually has good on center feel, which provides more confidence on the highway IMO.
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