Hi,
welcome to the forum and XV owners :). I know exactly how you feel, at first the xv felt light in the corners and not so grippy. However, after >30K I got used to trusting the car to be planted on the road. If you were losing grip btw, the VDC would surely flash up letting you know. I assume it did not. Trust me, it takes time to get used to your XV. I can't compare it to an Outlander but if the weather turns bad, the XV is one of the safest cars I have ever driven.