The thing is, if you don't have a rear ARB and you want to make a FWD front engined car handle you need to stiffen up the rear end and prevent the weight transfer at the rear. Otherwise (like the MJ) all you get is understeer and appalling body roll.
So to make the 100hp with no rear ARB you need to stiffen up the springs/dampers in an effort to prevent the weight transfer.
Getting out of the panda and into the integra feels like going from one extreme to the other. The Teg has a very thick rear ARB double wishbone suspension and that thing lifts a rear wheel in the air on enthusiastic cornering. To oversteer, simply trail brake and lift off or just lift off and the rear comes round. Top fun. Try and do that in an MJ and its a real challenge.
A rear ARB could have improved things no end without unduly losing the ride quality. The mother outlaws Yaris has the same torsion beam setup (it really does look nigh on identical) but it has an ARB running through the middle of it. The Yaris rolls a hell of a lot less.
Its not so much a case of body roll vs grip, its more body roll vs predictability and balance of the car.