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Aftermarket suspension that's a bit softer?

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90% of the time I'm perfectly content with the ride quality. The problem is rough/repaired/patched roads and city streets.
The bumps are felt just a bit too much for my laid back every day driving.

I remember Elon suggesting that people drop the tire pressure a bit and that might be a OK temporary solution, but it's one that results in lower efficiency. I'm normally at 43psi cold.

Are there proven softer suspension parts available that don't hurt the handling too much?