Your information is good up until the vibration part. KDSS has hydraulic cylinders on one side of each stabilizer bar, with an accumulator between. On flat ground when the axles are parallel the system restricts the articulation of the stabilizer bar. On uneven terrain where the axles are “crossed up” the system permits more articulation. The result is that when going around flat corners the stabilizers are stiffer and mitigate body lean. When on uneven terrain the ride is more supple.… the front stabilizer bar diameter on a 4x2 is 1.22" and 1.68" on a 4x4 with KDSS. Don't know the rear thickness for a 4x2, but the rear on a 4x4 with KDSS is 1.18". I've also read that in between the front and rear KDSS hydraulic cylinders are accumulators which allegedly helps prevent vibrations from entering the chassis, but I cannot confirm this.
Comfort is subjective. I enjoy our TRD ORP W/KDSS for what it is. Some people consider the softer, perhaps floatier feel of the non-KDSS 4Runner, to be more comfortable. I prefer the more controlled ride of KDSS. It handles corners better than non-KDSS, but that doesn't make it a sportscar. It does have better axle articulation off-road too, in slow crawling situations.
Firmer shocks can make the ride of non-KDSS 4Runners firmer. But again, some people consider a firm ride to be the opposite of a comfortable ride.