I do agree that the BMW M is slowly heading more towards the every day driver and away from the hardcore enthusiast but the truth is that it works. People don't want to buy a gutted out M3 with super stiff suspension for 100k. People still want their cars to be smooth and comfortable.
Acura still has some way to go to beat Lexus.
One of the biggest complaints on Acura is their lack of performance inspiration. All of their cars have been pretty similar for many years. using the same engines over and over again.