There are many times where Ive gunned it coming out of a drive thru and had to cross a couple lanes of traffic to get to mine. These are the only times I run into noticeable understeer. On and off ramps where Ive pushed it stupidly hard feels planted and secure. Im lowered on springs though so my set up is probably not the same as yours.

 

My 06 TSX handles "OK" - we use it as a travel car and it is sure footed on the highway. It is not a racer or a rally car, imo. We rally a MINI.