I'll add my two cents ...
I drive in both Dynamic and Comfort with AD set to defaults except for acceleration which I've dialed down to comfort settings.
I drive on a mixture of uneven brick streets and surface streets on my commute. Depending on the route, sometimes there are speed humps (wide trapezoidal shape with a slope at the beginning and end and a flat top) and sometimes not. Because it's Florida, I frequently drive through deep drainage gullies.
On the uneven brick streets, I drive in comfort for obvious reasons plus I get a "hum" in the car at certain speeds on brick streets if in dynamic. Otherwise I'm in dynamic adjusted as set out above. I mostly drive in dynamic because I like the steering feel, but also because I have a half-baked theory that the 50/50 motor split may be gentler on the fragile front wiring harness.
I personally have not noticed the poor damping described above and I drive aggressively when conditions allow. I do feel the weight of the car and perhaps I've lowered my expectations to fit. I'm also implicitly comparing the I Pace to my wife's Velar which even though it is the "sporty" RR, feels piggish compared to I Pace. I'll pay closer attention next time I have the opportunity to take either a gully or hump at a decent speed (more than 30 mph).