My take - having driven the Veloster N, Golf Rs, Focus RS, WRX STI, Honda Type R I have one thing to say about the fiesta - THERE'S NOTHING LIKE IT.
Well... Yes, but also no. I'll explain below.
Veloster N - Heavy, number steering, slower feeling
Golf R - Really just a boring car. Probably the worst pick. Anyone who recommends this hasn't driven one.
Focus RS - Well I own this one too. It's close to the fiesta, but doesn't feel nearly as nimble.
WRX STI - Good car. But not really exciting.
Honda Type R - Good luck enjoying the car at street speeds. Great car.
Veloster N - Disagree. You must not have driven one in N mode or any mode outside of normal or eco mode. Absolutely none of this statement is true. I own one, and have three Fiesta STs of varying degrees of modification in my household.
Golf R - Agreed. Buy an Audi instead.
Focus RS - Agreed. Great car, but didn't really live up to the hype.
WRX STI - Disagree. Ancient technology at this point. Engine has been around for ~30 years now? Boat like, handles terribly. Not fun to drive at all.
Honda Type R - Agreed. Great car, but not worth the hype tax. The Veloster N does the same job and is a better daily driver for less money.
There's nothing similar to the Fiesta! Everyone I talk to who is like "Oh wHy DiDnT yOu BuY a CoOl HoNDa??!" has never bothered to go drive a fiesta.
And the Fiesta ST modded slightly is unbeatable in fun. And you can still haul your dog. The closest car I can say is honestly the Miata. And everyone loves Miatas. But our's has four doors and FWD. That's the trade off.
There is, its called the Veloster N. Its a more grown up version of everything the Fiesta ST tried to be. Its faster, it handles the same, it comes with an LSD, it has great shifter feel, and great engagement. The ability to change your ride on the fly in any way you want to is also awesome. You drive an N on a mountain / canyon road or on the track and you forget that cars like the Miata exist, it is just so good. I do miss driving the Fiesta from time to time but thats mainly because the Veloster doesn't have Recaros (I have a 2020 so I don't have the nice new seats). More horsepower than a Focus ST, but lighter and just smaller. It doesn't fall flat on its face closer to redline like the Fiesta ST and it doesn't feel as "econobox" on the inside. Sure you don't get that donkey kick in the chest of immediate torque but thats a trade off for a much more useable powerband (and a larger turbo). Sure you can't tune it with an AP like the other options but I don't think it needs to be tuned. I've put on some light mods and I love it the way it is. Its fun in all the right areas and ways. Is it a direct replacement for the Fiesta ST? No, that would be the i20N but we're not getting that. The Veloster is the next level up, in terms of vehicle, I still love and respect the Fiesta but this was an improvement in driving experience in every way.