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I wonder if a vehicle that rides very comfortably can really also be a very capable handling car?
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Yes!, but it is harder to get it right.
Using overly stiff springs is the easy way to crisp handling but you sacrifice ride comfort.
With proper tuning you can make a great handling car even with softer springs that can absorb the bumps better.
Also, short wheelbase gives a car a small turning circle and quick response but then you have unpleasant high speed oscillations (car tilts back and forth over bumps).
Longer wheelbase with less overhangs makes for a more comfortable freeway ride. They can get small turning circles back with tricks like rear wheel steering.
Double A-arms instead of struts is a good start. Low center of mass is also key. Careful tuning of springs rates and shock absorber characteristics can make a world of difference.
Tesla is working with Lotus and Lotus are masters of suspension tuning, so they no doubt are doing the best they can.