Time has come now for Hyundai group to step up their game by producing cars which can handle perfectly the way Mercedes or BMW or Audi handles.
Hyundai group has done remarkably well enough in the interior section but still it lacks the driving performance.
Hope Hyundai pays attention to it and works on to produce a complete car like BMW and Mercedes.
A bit little behind the times.
The G70 has won just about every major auto award in NA and is still listed as
Car & Driver's top entry-level lux model.
While the 3 Series has the better powertrains, the G70 will close the gap w/ the new 2.5T and 3.5TT (still, the in-house 8 spd AT isn't quite as quick to shift as the ZF-sourced trans in BMWs), but the G70 is more
tossable, has better steering feel and has the better ride/handling combo (the same can be said for the
Stinger - which is essentially a fastback version of the G70).
And then there's the Veloster N (would much rather have gotten the i30N or the i30 Fastback N) - which was
Road & Track's 2020 Performance Car of the Year, Cars.com's 2020 Most Fun-to-Drive Car of the Year,
Automobile magazine's All-Star, Motorweek's Driver's Choice Award, etc.
There are more N models coming (like the Kona-N), as well as N-Line models (Sonata N-Line).
Mercedes (at least their sedans) haven't exactly been known for their handling; altho MB has improved on that recently, but still, not at the top of their respective segments and the AMG variants are more known for their prodigious power than supreme handling (making them more like the lux version of muscle cars).
Audi (while they have done as much as is possible), there are limitations w/ a FWD layout (even longitudinal) where the weight balance isn't as ideal as a proper RWD layout.
Now, there definitely is room for improvement w/ the G80 and G90 - which currently are more known for being luxo-cruisers, but that'll change w/ the next G80.
The biggest detriment to handling prowess is weight and the current G80 and G90 are heavy (same can be said for MB sedans relative to BMW, Audi and Jag), but the next G80 will be underpinned by a new, lighter-weight RWD platform, as well as using aluminum for certain body panels.