How to make suspension/ride feel softer?

I sat and drove the TRD Sport once and could hardly tell the difference between the two lol. I suppose i’ll keep searching then thanks.

 

What kind of speeds are we talking about, and how rough are these rough roads/trails? Your complaint of it being harsh actually might be because your suspension is too soft. The stock TRD OR suspension is really soft which makes it good at low speeds, but when you try to run fast in the dirt it crumples like paper and you'll hit your bumpstops a lot. A firmer suspension might actually give you more of the ride you're looking for. But also do air down off road. 20psi or so is good for higher speeds (40-60mph).