I own a 2008, and have noticed that it is pretty jumpy over rough roads. Not sure which tires your car has - mine has the Yokohama Avid model. I can't say I love them, and believe they are a major source of the problem. It's annoying enough where I'm considering installing Michelin XGVs on it and trying to sell off my Yokos (only 5k miles on them - any offers?). The tread pattern is quite blocky, and that usually translates to a rougher ride. The XGV is much more a "touring" tire, with more longitudinal grooves and some fairly thin tread aspects for quietness. If I decide to take the leap, I'll report back if my theory is correct. I know the Toyo Proxes are quiet too, but when I got only 22k from them on my old ES330, I swore off them.
Consumer Reports (November 2009), pg. 48, 49 is helpful if you're looking for COMFORT (ie, listed separately under "ride comfort", and "noise") as well as other aspects in your tires. My 2009 ES OEM tires were Bridgestone Turanza EL 400, which were rated as "very good" for "noise" (or lack thereof obviously), and ONLY "good" for "ride comfort" (I agree). The Yokohama Avid (TRZ) is similarly rated under "comfort", the Yokohama Avid (H4S) is rated slightly worst, while the Avid (V4S) is slightly better than the above. The BEST tire (excluding winter tires) for "comfort" is the Kumho Solus KH16, followed closely by the Hankook Optimo H727, the Pirelli P4 Four Seasons, and four tire brands listed under "Performance All-Season". Michelin XGV's were not rated in this report, although the brand took top spots in ALL four categories (ie, all season, performance all-season H & V speed ratings, and winter tires). Bottomline: buy the higher rated tires for "comfort" if that's your priority, and inflate them at the recommended 30PSI. That's about as good as it gets (in terms of comfort) for an "entry level" luxury sedan, which is still pretty darn good.