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I wouldn't even class the S2000 and NA/NB Miata in the same category. The Miata feels noticeably lighter and more nimble than the S2k when you drive them back-to-back. The latter felt more akin to the Twins or RX-8 (probably because they're all in the same 2700-3000 lbs weight range). If anything, the Mazda 2 captures some of the NA/NB agility, although obviously in a FWD package.
I've also driven the Z3 2.8 when a relative of mine owned one. It handles pretty well, but is definitely more substantial feeling than even the Twins/S2k/RX-8, probably as a deliberate result of BMW's chassis tuning. It's also much more refined on the interior and had loads of low-end torque comparatively.
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