You've answered your own question - drive one and see what you think. I didn't find the steering on the 2.4 to be rubbery, though it certainly was "light" with not a lot of steering feel. Though not out of character in the midsize family sedan class by any stretch. This car isn't a sports sedan and doesn't pretend to be. The turbo has a higher-effort, less-boosted steering feel that I defiitely preferred. Along with the serious pull from that torquey motor.
I wouldn't let comments about the steering in the Sportage worry you too much - very different vehicles. In fact, since you dug up Zack's video review on that car, wouldn't it be more informative for you to dig up his video review on the Sonata? He quite liked it. And there are about a bazillion other reviews out there on the Sonata - so no need to latch upon just one or two. The overly light steering has been commented upon by more than one, for sure - but the Sonata has consistently received very good reviews overall.
And if you're buying in March, there's no reason you can't start hunting now and find the answers to your questions first hand. Sonata Turbo and Passat CC are currently at the top of my list.
Jaeger