The stock suspension feels like a boat and doesn’t seem to be smooth over harsh roads in town. Vehicle (2021 HE) is currently stock with stock tires, wouldn’t mind lifting if it will improve the ride.
Any recommendations on a suspension set up that isn’t as floaty and smoother over harsh roads?
Or is the stock suspension as good as it gets?
I believe what you're trying to convey and there's some subjectivity to qualitative aspects. At the same time, I think it's important to understand its highly unlikely you'll find a "smoother" setup from the aftermarket unless the suspension is worn out which I doubt on a '21 HE. OEMs are the master of ride quality as part of their priorities. Often, there is some wallowing and floatiness, but with suspensions, there so many trades and it's hard to be everything at once.
The reason I say OEM is the smoothest is because they use the softest spring rates, and spring rates are the first dictator in compliance and ride comfort.
I believe all aftermarket springs will be higher in spring rate, usually significantly so. The other factor is that stock damping force is mild, and usually linear, to ensure ride comfort in lower speed bumps. Similarly, aftermarket shocks tend to have higher damping curves, which can be a detriment to initial compression compliance, but will offer more control to feel more planted.
I'm a proponent of Bilstein shocks added to OEM springs. This will raise damping rates giving more control and less floatiness. The trade as
@patpend2000 notes is decreased low speed compliance as the additional compression damping raises the perceived compression compliance. Probably more so with Bilstein's as they tend to use digressive valving (higher low speed damping and lower high speed damping).
I haven't heard much of the Eibach setup on the 200-series as noted from
@Supra Turbo . This might be a great opportunity as I believe they tend to walk a great OEM+ balance in their tuning, that I have had in my previous vehicles.