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My wife has a 2007 XRS so I have driven both vehicles on a daily basis for about eight weeks (picked up my FRS on 12/5).
The short answer is driving the XRS and FRS back to back makes you realize that there's a massive amount of body roll and and jello-y quality to the stock suspension in the XRS. I believe your right its technically stiffer, but the big hollow chassis and suspension setup ruin the whole thing. It isn't on the same planet if you're comparing how accurately you can place the vehicle at a specific point in a corner versus the FRS.
That said, the suspension on the XRS is WAAAAAY more forgiving and comfortable than that in the FRS. On bad quality roads in the winter, the FRS will chatter your teeth out of your head, and you'll know exactly where every seam on the pavement is. The XRS is nice and comfortable, with only really the biggest bumps getting through to you. The XRS is definately the car for long trips, my wife can't take more than 3-4 hours on roads up here in the FRS without feeling a bit sick. But really, it's the difference of sporty car vs sports car. The XRS is not a bad car by any means, but I wouldn't say they are comparable in responsiveness and info to the driver.
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