About steering, I found differences between my former 2008 GS 450h and my GS 300h that , in my opinion , is better.
My 450h had variable ratio steer, so when I drove in normal mode the ratio requested too many rounds to do on steering wheel, to have a better ratio I needed to switch to sport mode, but at this point it needed more effort to rotate steering wheel: with GS 300h that has NOT variable ratio steering, the ratio is just right in normal mode, requesting more effort switching to sport+ while adaptive suspension get stiffer too, and I prefer this way, so to have a steering ratio I like also when driving in normal mode.