It's been awhile since I last drove a 540, but the M5 in normal mode feels about the same as I remember it. They're both recirculating ball, but in sport mode the M5 steering feels tighter. However, neither really has the same feels as a rack-and-pinion to me. 99% of the time it doesn't matter, though, since both the 540 and M5 have amazing handling for their size.