I did a track day recently near London driving all manner of cars from Porsche 911, Jag XKR GT2, Renault Clio Cup (FWD), Formula Palmer Audi single seater, Caterham Superlights and the instructor that I had for the day actually races the new GTis.
We had spent the day learning about how every car reacts and deals with corners as the mix of cars was so diverse.
The instuctor was explaining to me that the ESP in the GTi is very intrusive and the best way of dealing with understeer (it will always have some element of understeer as it is FWD) is to feather the throttle gently as you are cornering rather than not having any power down, ensuring that all your braking is done well in advance of the corner and then to have the steering lined up as you hit the apex of the corner, you don't want the front wheels turning as you get back on to full throttle exiting the corner. Ideally after the apex your car should be lined up straight, giving the optimum line and speed through the corner with minimal understeer.
I must admit ... after that day driving those cars I was humbled
The whole day was such an eye opener as to how little I knew about driving in reality !!!