Like many poll questions, this simple question can not be answered "yes", or "no".
FWD is better is some situations as mentioned above. The compact packaging makes for a more efficient layout in a smaller car.( Less space to drive line/ more space to passengers).

RWD is better in others--like all-out at the limits type of driving ( how many of us do that?), or for heavy payloads like a PU truck. Even worse would be towing a large trailer w/ FWD.

AWD is good in some circumstances.

All these factors must be balanced with cost and competition in the marketplace.
There is no single answer.

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1982 300SD " Wotan" ..On the road as of Jan 8, 2007 with Historic Tags