I absolutely hate over light power steering too. It makes for boring driving with no sense of feel and reminds me of the earlier agricultural tractors.
You stated the MS ride was better than the Fortuner, but you never mentioned how bad he actual engine in the Fort was. I too drove the non-vgt 4x2 MS and 2.5 4x2 Fortuner on the same day late last year. I could not beleive how bad the Toyota performed. I went in with open mind as the Fortuner is not sold where I come from, (nor is the current MS atm for that matter). I was expecting the Fortuner to outshine the MS, but it felt like a 90s vehicle in lots of ways.
I did not even want to try the ford because I hate the look of it.
