I have had my 05 since new and now have 130K miles. My observation/question is that the suspension seems to be significantly harder than I remember it. I do have 245/19's but I have had them for about 5 years but this issue seems to be a recent one.
I reduced pressure to just above TPMS trip - approx 28 and it helped but not by much. It's either the tires or the suspension.
Has anybody had any suspension work done and if so, what was the reason?

 

Struts might have been gone. You might observer harsher ride and more bounciness.

You should bring your car to a good mechanic and check for leaks or blown struts, and change if required.

 

Get the A-Spec Suspenison. The best Investment I have made, also get the "09 sway bar and new end links.

 

Change the suspension. They don't last forever no matter how much you want them to. I will probably change mine every 100k.

 

^^ this.

 

I want a softer suspension not a harder one. The RL is great at high speed cornering but trying to get it to handle well is a lost cause. If I wanted handling I would start with a car that weighed about a ton less than the RL.
Has anyone changed the struts?

 

My guess is that the OP has a frozen strut. No compliance, stiffer ride. Old springs and struts will only feel softer as they age unless they do this.

I have the A-Spec suspension. It does improve handling, but if the OP is bothered by a stiffer ride, I'll note as I have before that my aging and sensitive butt does detect some deterioration in ride comfort, which didn't bother Neuronbob and some other A-Spec upgraders on this board.