Hi I've been there. I had a 2017 MKII Q5 TDI sline and wasn't particularly unhappy with the ride. Bought a 2023 SQ5 TDI at 3 months old and loved everything except the ride, the synthetic sound and false exhausts. As you say its jarring especially on our rough roads. I found the adjustable dampers made no apparent difference.
Mine was fitted with 20inch wheels and I did consider going to 19inch and investigated a retrofit air suspension but I couldn't find one and also there would have been warranty issues.
I had it for 6 months (10,000 miles) and traded it in for a Q5 Vorsprung that has air suspension.
I wish I'd tried a SQ5 with air suspension. Love the ride on the Q5 now.