My 2011 Limited V-6 has what I would call good road feel.
I get a little bit of wandering I have to counteract driving on grooved pavement, not bad, but I can tell it's there, probably has more to do with my tires (Geolander AT/S) than anything else.
She has more feel in the steering wheel than either my F150 or Explorer did, and only slightly more than my LR Disco did.
I wouldn't call it harsh at all, and I do like to know what my front wheels are doing.
When it meets spec in the simplest most reliable way, STOP MESSING WITH IT!