Mid-corner? Maybe you're giving it a bit too much gas too soon? When I tracked my quattro, i found it helpful to trail-brake through the corner, unloading the rear. Also, when you're on the throttle, sometimes backing off a little bit when you feel the front start to push wide will help bring the rear around.
But I've never driven a R before only largely anaemic B3&4 quattros Bigger rear bars on those cars have helped immensely but with their nose-heavy nature, they always tended to understeer anyway... I think it's hard to get away from that in an AWD road car.
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