A torsion beam/twist beam rear suspension is demonstrably inferior to an independent rear suspension at all times, not just at the limit (but certainly at the limit).
Twist-beam rear suspension - Wikipedia
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You could make an argument, for example, that a double-wishbone is better than the Macpherson strut in the front of the CX-5, but you might not notice the difference in normal driving. You'll definitely notice when the rear wheels are connected by a solid beam, every pavement imperfection is transmitted into the rear subframe and then the cabin. The move to a torsion beam in the Mazda 3 (and CX-30 and MX-30) was most certainly due to cost cutting. It adds up over millions of vehicles.