I have just put on ES100's and felt the steering response was slightly worse. However the grip is significantly better so the response could have something to do with having to turn the sticky wheels. I didn't notice any change in the ride ... but then I have SS+ with new sway bar so the ride is harsh anyway.
2007 DS/W MCS LSD, sport suspension, Enkei RPM2 wheels
2002 EB/W MCS Sport package, Rogue intake, Borla exhaust, 15% pulley & Madness sway bar