Have you looked at the Kia Stinger? It's a bit lary for me personally but I've read of a few people who have swapped to one from an Octavia VRS and been really pleased with them.
Here's one for £21k, 2019 with 17,000 miles.
www.autotrader.co.uk/car-details/202008252922270
On the Volvo front, I drove an R Design V60 recently (estate version of the S60) and I didn't like the seats. I found that the seat extension section was narrower than the main section of the seat and was pressing into the sides of my legs. You can actually see it in the photos of the ones SLO has posted.
Drove it back to back with another V60 in the Inscription trim with the light leather and sunroof and that was lovely (so lovely that I bought it, just waiting to go and collect) whereas the R Design felt like a cave with black leather and black headlining.
Handling might be a bit more toward the "comfort" end than your after though. It wasn't wallowy (my Superb felt like a barge when I got back in) but nor was it firm. It felt tight through corners and not much roll but I haven't ever driven a 3 series to compare. Worth a try, however the S60 only came out last year so you won't get one for £20k. Here's one for £22,500:
www.autotrader.co.uk/car-details/201912205491307
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