There is no mode for that on this car. Its impossible to make everyone happy with suspension, from the factory. One persons "bobblehead stiff" is another persons "sporty suspension". One persons "comfortable" is another persons "completely mushy".
If you want a model 3 and want "softer" you will need to put an after market suspension on it. The suspension is perfectly fine to me, for "daily driving 30 MPH to the grocery store" on my model 3 performance, for example, but I am coming from almost 2 decades of leasing BMW 3 series with either the static sport suspension, or the adaptive suspension that I always put in sport mode unless I needed to take my mom to a doctors appointment or something.
My wifes X3 has an adjustable suspension, which, the second I get in that car to drive it, I swap to sports mode, because otherwise, (to me) its mushy and feels like I have no control at all. I also am not racing around everywhere, just cruising, I just dont like the feeling of disconnectedness you get from what to me is "mushy".