When my car was new and had stock springs and the 19" Toyo A36 tires, I did not find it to be harsh at all. I thought everything was quite well damped, but not to the point of being sloppy and floaty like some cars. Still, I didn't like the feel of the tires when turning and I didn't like how the car felt when changing direction at speed on the highway.
I have increased my spring rates from 3.0k front 5.2k rear, to 3.4k and 7.0k.
I have changed the tires to a 20" UHP AS tire, replacing the 19" SUV Touring tires.
The car handles a lot better and is more predictable. There's still body roll, but it's more composed than it used to be. You feel more of the road, but that's the trade-off. It's closer to a 3800lb sedan now. Sway bars would be nice, but this is a daily and I want to maintain my ride quality.
If you think your car when completely stock is "crashy", something is wrong. I used that term after I did the 2" lowering springs and wheels but used the stock sway bar end links. That was crashy. It rides quite a bit better now with the adjustable links.