Stiff ride

I recently purchased 2015 TRD OR Prerunner, completely stock, and as I acclimate to it, I'm finding the ride a bit too stiff for my liking for routine driving around town. I probably should have stuck with installing Michelin Defender LTX tires like I had been thinking of doing, rather the Cooper Discoverer AT3 4s I went with. I wasn't specifically looking for the OR package when I bought the truck and obviously with RWD only I'm not planning on doing much offroad driving beyond run of the mill forest service roads. I do often tow a lightweight 1200 lb camper, though. The truck barely notices it. Is there a shock upgrade that might provide a softer ride, or should I be looking at a spring upgrade as well?

 

I didn't know that Toyota made an Off Road PreRunner. It's my understanding that PreRunners were 2WD and Off Road(OR) were inherently 4WD. I may stand corrected.
My 2015 V6 PreRunner is 2WD and the suspension is Stiff. I would imagine an OR would also be Stiff, maybe even Stiffer than my 2WD.
I'm not sure the Michelin highway tires would smooth things out much in a suspension designed for the wilderness.

 

Yes they make a 2wd OR. It just has a rear locker, but no 4wd

 

Stiff ride - that's what she said . . .