As for steering feel there are reviewers with different view...
"he latest E63 S is a very fine piece of kit, but in certain areas it is not quite as well honed as the new M5. One important point in favour of the BMW is its steering. The variable-effort rack operates with commendable precision, balance and agility. Steering angle and steering effort work in total harmony, even when you start changing the settings named Comfort, Sport and Sport Plus.
The Mercedes’ steering feels meaty and switched on, but the self-centring motion is somewhat exaggerated. In addition, it takes a more conscious turn at the wheel to dial in lock. Wind on more, and the feedback starts to blur just a touch. When the tail eventually swings round, the steering response is quite light until you reach the point when an invisible counterweight tells the palms in no unclear terms that the next move may be Game Over. In certain situations this system just feels too clever for its own good, where the direction-finder of the M5 is more linear, and its response has more depth."
https://www.google.com.sg/amp/s/www....n-test-review/