I don't think the RS in normal mode is any more worse than my 17 WRX was. Can't ask my wife, she hated the WRX and hates the RS.
What it sadly comes down to is track times for press days. .1 seconds could separate 1st and 2nd, and look at any ranking video or article. "The VW R comes in 3rd, beating the STI, but is definitely the most comfortable vehicle here." --Literally every article/youtube video that compares the VW R, STI, RS and CTR... Comfort doesn't win (articles, but I see plenty of R's on the road). When it's time for a new car, I will probably do what I did this time; buy the most hardcore vehicle I can.
Could Ford have done better with the suspension from the get-go, probably. Personally, I don't need the turnable headlights and would have liked to have seen the money that went into those, go into suspension and a button that raises the nose of the car.