I did notice one interesting thing about the Sonata that I failed to pick out initially. It does not understeer under mid-corner acceleration. I was stunned by that, until I realized what was happening. The electronic stability programme was braking the inside wheels, causing the car to rotate when it should just have plowed off on a tangent.
Now, obviously this approach is not as good a solution as a proper drivetrain, because it means there is a power bleed happening under acceleration in order to preserve handling neutrality. But, in terms of making a car handle well while doing something stupid, this is perhaps the first time I’ve found myself saying “yes, ESC is actually making this vehicle more pleasant to operate.”