...along with, castor/camber/toe/Ackerman angles/bump steer/roll steer/Spring rates/Shock compression & rebound rates/Frame torsional stiffness/Suspension frequency cycles/Tire & wheel weight, sidewall size & stiffness, tread width & rubber compound/etc. etc. etc.
To make a vehicle understeer less, reduce front roll stiffness & increase it in the rear.
To make a vehicle oversteer less, do just the opposite.
Of course, that's considering that no other changes are made.
By tuning a vehicle for extremely high-roll stiffness—where it's difficult to notice cornering speed due to lack of body roll—you mask one channel of communication to the driver. Nobody wants to fly blind by masking roll; you're cutting off tangible communication. Instead, it comes down to understanding and predicting what's going to happen as cornering forces build to their breaking point and beyond.
Body roll is a primary, fundamental way to inform the driver about cornering and therefore a progressive indicator of grip.
The idea is to cook up a suspension absorbent enough to keep tires planted and talking to the driver as continuously as possible.
The hearts and minds of sporty car fans often relies on a game of numbers brewed in a cauldron of 0-60 mph times, quarter-mile figures, maximum grip numbers, lap times, and nutso horsepower.
Living by those stats adds up to one-upmanship that eventually leads down a rabbit hole of irrelevance.
Mix all those ingredients together and you get an automotive Dolph Lundgren—great on paper but lacking any real charm in person.
To put it another way, when is the last time you drove a spec sheet?
Grip in the form of lateral acceleration and breakaway character is the prime offender in the modern crimes against driving fun, and it's typically measured by the force of gravity in a lateral plane. In this dynamic, a car that can most quickly negotiate a 100-, 200- or 300-foot (30/60/90m) diameter skidpad in steady-state cornering in the least amount of time against others posts the highest grip.
Of course, grip on a skidpad proves only one thing: that tires stick well and the suspension keeps them mostly upright. That's not where the joy or art of driving live, however. Better grip may mean negotiating a steady corner faster, but if you focus only on grip in the chassis engineering phase, the enjoyment of driving plummets. The breakaway character of the car's and tires' cornering ability at maximum adhesion becomes unforgiving and hard to read for many drivers.
The real shame is that this is the exact point where enthused driving becomes a dance worthy of the effort. A superior handling vehicle can be as rewarding a partner as Fred Astaire or Ginger Rogers, but fit horrendously grippy sneakers, and grace falls flat on its ass. Put simply, tires and suspension engineered for maximum possible grip deliver what they're supposed to, but in inverse proportion to fun.
A lack of suspension travel is one of the most frequent causes of horrible handling.
I have a friend who want's me to drive their Porsche Cayman. Your post describes exactly why I have no intention of driving it - but wouldn't refuse a drive of her Isuzu pick-up!
edit PS - Or an original Elan.