First thing I'd check is tire pressure sometimes dealers overinflate them. Dropping a few PSI might smooth things out. Beyond that softer compound tires could help or if you're really committed maybe aftermarket adjustable shocks though that's a bigger investment.
You could also look into getting some softer shock absorbers. They’d help absorb the bumps more, making the ride less harsh, without going full-on coilovers.
Thanks for the suggestions! I'm pretty sure Ioniq springs are the easiest way to find the right replacements. I'll still try 31 psi, but I'm counting on finding some wrecked Ioniqs lol.