First, the legendary feel of titanium is... partly legendary several titanium frames do not provide this legendary feel (some are too stiff and uncomfortable, some are too soft and lack rigidity...).

Second, it depends of the type of titanium used and indeed of the diameter and thickness of the tubes.

Third, it depends of the shape of the frame and indeed, helix frame is different from a diamond frame what should change the feeling. For instance, the titanium fork and rear triangle of the Brompton do not provide any improvement on comfort, they just weight less than their steel equivalent. When I see the Seattle Cycle Burke, I have many doubts about its comfort.

About steel, yes, part of the costs will be reduced if the frame is made of steel instead of titanium but the complex CNC parts of Helix (and related costs) will remain.

The price of steel and weight of a steel frame depends a lot of the type of steel used. If you use the new stainless steel type like Columbus XCR or Reynolds 953, I am pretty sure you can make a frame that weight less than the current frame but the cost will probably not be much lower and again, there are all these CNC machined parts and complex design that impact both weight and cost.