I think the main problem people that people have here is this:
Underneath all the gizmos, this $51k car is engineered to a $30k price point. For example, if you spend $32k US on a loaded Accord, it will feel and drive cheaper than a $32k US stripper 328i, even though they cost the same. Because Accord is engineered and designed to be profitable at even $19k, while BMW is not.
If Ford came up with a $51k car that was engineered to a $45k price point (rather than $30k), then it would show, and people wouldn't be as critical of Ford's pricing.
Genesis is engineered to a much higher price point, so people still think $37,000 US (with couple of options) as bargain, because underlying the $37,000 car, you have a car that is engineered to $33,000 price point, instead of $24,000 US like Taurus.