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Not necessarily the case. This is where adjustable shocks come into play. Spring rate and shock settings control your comfort level. Spring rate will make things "firm", then you need a shock that can control said spring rate. But having too much compression/rebound in a shock setting makes things ride harsh and not very comfortable. Big bars can add roll stiffness without reducing any type of comfort on the street.
Higher end shocks like MCS/Penske/JRi/Ohlins/KW do this better than others, but on the opposite side of he spectrum the Viking Performance twin tube triple adjustable coilovers I have on my C5Z can me made to fee like a Cadillac on the street to a track car on rails in just a matter of clicks...and the Vikings are a fraction of high end setups.
It is 100% necessarily the case. I said “ideal for the track”. Go drive a real race car (i.e. a car with an overall setup ideal for the track) on the street as a daily and then tell me it is not hell.