2017 LC 200 very rocky/wobbly on high speeeds

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I don't mean to slight the LC suspension, as it definitely has a place, and its ruggedness and durability is second to none. Though I will plug the LX AHC suspension. It is exactly this case of mixed use, that it excels at. It can vary dampening for load on the fly. It can also adapt to road situations to a greater degree than KDSS.
 
No experience on my part with a loaded 200, but I can tell you a heavy roof load can add a LOT to the rocking motion on wavy pavement in a stock 100. That high weight has much more leverage on the suspension than weight down low. You mentioned a XXL loaded cargo box-----how much weight did you have up there? Combined with the 6 people with stuff inside (possibly close to 1200 lbs?), it's possible you were asking too much of the stock suspension going straight ahead down the highway.
 
Going to an E rated tire firmed up the ride tremendously on our '15, ( Nitto Terra Grappler G2). Almost no roll now, the rig corners very flat. The sidewalls on the factory tires are way too soft. I can feel the weight in the back with two adults (rare) in the third row but think that's the springs more than anything else.
 

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