I cannot believe nobody is pointing out the obvious fix for this. Adjusting your tire pressure down. You can try setting all 4 tires to 28-30. If still too firm than 25-27. As long as you are not doing extended freeway/high speed runs, for around town this will make worlds of difference on rough roads.
I stll think something sounds wrong though as comfort setting is really really soft. So unless you have a back injury or are 80 years old, you just should not feel that comfort is "too stiff"