My 2020 also rides pretty terribly and I'm getting sick of hunting down the issue. So far I have new rear shocks, rebuild front shocks, new springs front and rear (Eibach and Icon) and I've lowered tire pressures to 35/32 or so. Not only is it uncomfortable, but it also feels really unstable over any serious bumps. I do see the shock amperages change when I change modes, so the VDM isn't in limp mode, but I'm starting to suspect that the ride height sensors are the issue. I recalibrate them pretty regularly and they're still 8-10mm apart when I check them. Are there troubleshooting steps for the sensors? I have a warranty but I can get both parts for right around the price of my deductible.
Also, is there something else I should be checking other than height, sensor voltage, and shock amperage to try and diagnose the issue?