Yeah I'll definately be putting more offroad oriented tires when the stock ones are done, also considering alterations to the seat, though from the short rides I did, seat was suprisingly good, for a stock seat. The stock seat on the Africa was horrendous for my size.
I have/had the same problem.
After having CRF1000 (both, standard nad AdvSports) I was never satisfied with how ST deals poor tarmac. Yes, playing with ES (ZE) settings "helps" a little but it will never be like AT. While AT was soaking bumps, ST more jumps over them. Back wheel hitting bumps on ST sometimes is terrible.
Soft suspension + 21 front tyre make AT better (more comfortable) on bad streets. If I had this info before buying ST it would definitely influence my decision.
But today I'm not sorry for buying ST. I think for 2 up it is a slightly better bike than AT.
Seating position, seat comfort, shaft, wind protection, tubeless, cruise control are pros for ST.
Comfort (on bad streets) and great look for AT.
But all of this is individually.
For exampe, I have feeling that ST is lighter than CRF1000. For me it was harder to maneuver AT when fully loaded.
And for me, ST behaves the best with Heidenau. In the moment I have TKC70, but after that Heidenau is back.