I suspect the statement "mid is better in turn-in" is probably relative to a front-engine car, not a rear-engine car.
The concept of the car "swinging back in the other direction to right itself" implies that the driver has lost control. Maintaining control in the first place means having a margin of stability and that means having understeer margin. Having engine weight hanging way out over the back is not conducive to having understeer margin.
If the car does go unstable, the other part of it is whether what needs to be done in order to recover is possible within humanly realistic reaction time (or stability-control-system reaction time) and whether the driver is given sufficient information to be able to judge what the right recovery action is. Full steer-with-a-pinkie-finger power steering is not conducive to doing that. 4 turns lock-to-lock steering isn't, either.
Vehicles with a really long wheelbase, wheels pushed all the way out to the corners, seem to slow down these reactions.