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I've never driven a HICAS-equipped car, so I can't comment directly on that, but ...
If you leave your braking too late into corners you will have lots of understeer on turn-in. It's still sometimes hard to overcome the urge to stay on the gas just a little bit longer and brake as late as possible, even though I know I'll push out on corner entry and completely screw up my line.
If you're understeering at turn-in when you're not on the brakes, work with your setup to try to get some initial lift-throttle oversteer or at least rein in the push. If it isn't driver error, experiment with tire pressure and whatever suspension adjustability you have (Halo, you have AGXs, right?) to get the car to react the way you want it to.
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