Hiluxforever
SILVER Star
TL: DR we are missing data points to adequately recommend action.Tires / tire pressure (at the low mark - 32 PSI) and stock suspension will be the most productive for smoothest ride on the GX
What are the road conditions driven?
What tires do they have at what pressure?
How much weight is currently in it?
Have you ridden with them ro fully understand what they mean by softer?
That would largely be dependent on driving conditions as the horrible potholes in the midwest make the 5100s digressive valving allow for a smoother ride over rougher conditions.
I do get that with smooth pavement conditions the factory dampers are as Borat would say, "Very nice". If you end up in unavoidable pot hole hell, though, that may no longer be the case.
In the end we have two J150 series, a gx and a Limited T4R. In both cases the factory dampers were better over the seams and slight bumps, but the Bilsteins were so so so much better at soaking up the big ones, the unavoidable potholes, bad railroad tracks, washboard.
Also, while it will hurt fuel economy and handling, strategically placed sand bags can help settle how a vehicle rides, as well. Favor the driver's side a bit. That helps a bit in my own anecdotal experience.