In the late 1970s a group of psychologists in Boston wrote The Fear of Success. The book has been a favourite reference for motivational speakers who charge thousands to tell us we could be millionaires if we pushed ourselves a little.
From a cursory glance at the relevant literature - based on research into how others can actually afford the cars we get to test - we've discovered that many of us are our own worst enemies. We get uneasy rather than happy when things go right, don't know how to take compliments and fear people will expect too much of us if we do get to the top.
Clearly Subaru has this problem. Who else would build a car with such a strong engineering pedigree, capable of 100km/h in just 6.5 seconds, with a beautifully toned 3-litre powerhouse, all in the guise of an unmarked Dublin taxi.
Subaru must be one of the most frustrating marques around. Having driven virtually every model in its range, we must conclude: Subaru people have an inherent fear of mainstream success.
The Legacy is a fine car, well put together, with sound engineering and, in our car, a 3-litre flat-six boxer engine that's a delight. We can count on the fingers of one hand the number of times we've woken early on a Sunday morning just for the chance to get a decent run in a non-sports car, free from week-day traffic. This was such a car.
Yet from the outside, it looks like every other Japanese family saloon. Sure, it's rather fetching in a common sort of way, but remove the alloys, the low profile tyres, the mesh in the front grille, and this could be mistaken for a larger Toyota or, dare we say, something from Korea.
There's something rather bipolar about Subaru products. On the one hand we have this Legacy for the shy types who don't want people to know their performance potential. At the other end of the spectrum there's the Impreza Sti, with its over-the-top body kit. There seems to be no happy medium between bland and brash in its stable.
The more time you spend behind the wheel, the more frustrated you feel about its design. It's not an ugly car in any way - for an everyday saloon, it looks discreet, roomy and functional.
The interior trim of this latest model is to be strongly commended, and the backlit dials with white-lit numbers and red needles are particularly impressive at night. The central console is functional and plastics are much improved.
Yet the overall look just doesn't reflect the exhilarating drive and well-tuned engine. Subaru says the Legacy Spec B "deliberately boasts understated styling and equipment upgrades for sporty owners who don't want to attract attention to their car's performance potential". If that was their goal, they deserve full marks. But it seems a bit of a cop out - like Lada claiming that its goal was to secure employment for AA men in the 1980s.
The little Spec B, in pink lettering on the back (they really want to drive away all but the most determined customers) quietly signifies that this is the Subaru flagship. Beneath the body metal, it houses an Impreza Sti-based 6-speed manual gearbox, uprated suspension with front inverted struts, and a low centre of gravity powertrain, thanks in part to the boxer engine up front. The close ratio gearbox is smooth and allows the driver to make the most of the 241bhp of power on offer.
The engine just urges you to push the very well weighted throttle, and the accelerator is just heavy enough to equate to the sort of output you get when you push it towards the floor.
It comes with Subaru's renowned all-wheel-drive system, featuring a rear limited-slip differential. If the front or rear begins to slide, torque is fed to the axle with the most grip.
The end result is a family saloon with space for four and an ample boot that can hit a top speed of 243km/h (151mph) and reaches 100km/h in just 6.5 seconds.
This is a car for Impreza owners who've grown out of their baseball caps. They may have toned down the look, but they haven't turned their back on performance. On twisting country roads, the ride is on a par with the Impreza, hard and firm for handling if a little jarring for passengers when you hit the potholes and bottom out.
While the Impreza has been chasing the various generations of Mitsubishi's Evo range, the Legacy is very much on a par with the rest in its price bracket, even if it's a little thirstier in terms of fuel consumption. Match its mechanical reputation for putting in long mileage without complaint and it becomes an enticing buy.
Yet in its efforts to be understated, it has ruled itself out with those it should be targeting.
Perhaps Subaru wants to remain one of the best-kept secrets in the market. But this car doesn't deserve to be hidden under a bushel. Time for the motivators to make their way to Subaru.