Add more air than the recommended minimum
Measure your tires before you drive, when the tires are at their coldest and thus the pressure is at the lowest. Ideally, you should exceed the recommended minimum by several PSI, then drive the car, paying attention to how it feels. Reduce the pressure ever so slightly, and drive it again, repeating until you find your car's sweet spot. Your car will feel more comfortable -- it will better absorb bumps without harshness, and won’t feel overly stiff, either. Even two to three PSI can make a huge difference in both ride comfort and handling, so if you don't believe me, I urge you to try it.