The CX-5 has more body roll and a higher seating position. You sit low in the 30, with its high beltline and center console. The torsion beam really only makes itself known over rough/settled road, and yes, you do feel it. The other 95% of the time, you don’t.
Both are slow compared to stuff that Mazda has built before, like the MS3. But the 3MT is still the far more engaging choice esp. given how the AT in the 3 Turbo is calibrated.