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Without getting into all the self-contradictions and misused terminology, I'll just make 2 quick points:
1. Stiffer damping in general doesn't imply under- or oversteer at corner entry. You could tailor either way.
2. If the Toyota/Scion is tuned for "more oversteer" via relatively more rear roll stiffness, this is more likely to mean it has greater total lateral grip at steady-state cornering. This is because they will (almost certainly) both be sprung/swayed to load up the outside front during cornering, but the FR-S slightly less so.
But it's going to pretty much be a wash between the two, I predict. If one is objectively better-handling, it will be due to a ton of factors and not just the couple of factors we're talking about (ESP considering we only have the vaguest general notions about the differences).
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