I don't understand. I have a GS, just drove 1400km to Stockholm and back, 12 and 16year olds in the back. With luggage. As fast with kids and wife in tow as without. Used normal mode apart from overtaking. Huge acceleration. Brakes so, so. But stamp on them and they stop big time. Funny thing, the brakes, Brembos all round, but need a hefty push.
Did I mention the acceleration. But you have to select the right gear. And as I have found out, for smooth driving when coming to a stop, change to 1st at 2.500 revs. Not as you pull to a stop. I reckon the gearbox is programmed to think it's on a race track and not a road. Change down using higher revs, even in town, and the change is smooth. Can't feel the change from 2nd to 1st at 20 mph. Just the revs and the car saying "push me, push me".