Is there a such way to adjust steering wheel (to make it firm) other than switching between comfort-standard-sport mode?

I'm not much of a mechanic so please bare with me, but I feel there is a gap until the wheel catches and turns. Does steering wheel loose stiffness over time (vs. when it was brand new) - I have to mention that my buddy's new mustang feels much firmer than mine regardless of steering feel modes.

Everyone with suspension upgrades claim that 'now my car handles better' and make turns sharp but how do you achieve this when the actual control (steering wheel) is loose = not precise (by my standard)...?

 

Suspension components like tire-rod ends/balljoints/bushings wear out over time, but your car is too new for that to be the case.

Here's a couple things to consider:

If you've changed tire brands, that can affect steering feel. When I changed from the Pirelli summer tires to Cooper A/S with a softer sidewall, it noticably changed steering feel.

Bembo and non-Brembo Mustangs have a much diffferent steering feel (probably beause of the tire difference). Is your friends Mustang a Brembo/Track Package car?