I did not like the steering at first. Then I started driving in sport+. Driving in sport+ increased the effort and made it more to my liking. Now that I have been driving the car a few days, the steering feels fine to me in any mode.
Some of my favorite steering cars have been an early miata with no power steering, the 3 different Porsche Boxsters and the Cayman I have owned, and a BMW 3 series.
I think the steering in the 6 is fine. It did take me a couple of days to adjust to it though, but it also took me a couple of days to adjust to the size of the car in general. My last car was a 135i.
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