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I agree that the E87 was significantly stiffer set up, but I think the F20 handles just as well, or even better. You are right that it feels more sluggish, but I don't think it is. The steering feel is a bit vague during normal driving, but provides plenty of feedback on the limit. When driving against E87 on tracks, the turn-in and cornering grip is actually pretty good on the F20, making it easy to keep up with the older sibling.
The tyre type has a lot of influence on steering response. I think you would prefer low profile 18" tyres.
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