I drove my BMW 325i for a few years before I got my W126, a 300 SD. The beemer is firm, just about right for a street/performance car. By comparison, my 126 feels very comfy, but not too soft. Definitely smoother and more luxury car like than the beemer. I like it. The steering and front end feel high quality to me for a car its size.

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1986 300SDL, 362K
1984 300D, 138K