maxash

I'm new the forum, I recently got a 2010 535i w/o SP, manual transmission.

I never modded a car before but, I feel like the susupension needs improvement in terms of cornering ability, body roll, as well the drifting on highway at high speeds based in road grooves, and drifting with hard acceleration. Also it feels like a vague straight line steering center direction.

I was hoping you guys could recommend some upgrades to improve the issues above. My car is completely stock with no mods or changes.
My biggest issues are with body roll and drifting because of road grooves. Ideally I would like it to feel like the car can carve its own grooves into the road instead of getting pushed around the highway, and it corner flatly like it turns on rails. I would also like to avoid changing the road feel and rigidity when driving straight line.

My car has barely any miles on it and was wondering can it be upgraded with any parts from an M5 to improve the issues above in an attempt to preserve the factory warranty.

Thank you for any suggestions