Smoother ride?

Hello,

To restore the ride quality, you will have to replace all the wear item in the suspension.
You will need new bushings all the way around. Replace the ball joints, controls arms/bushings. Tie rod ends.
You also might want to replace the bushings for the frames as well.

It will also be import to replace any worn out suspension parts.

https://www.2carpros.com/articles/lower-control-arm-bushing-replacement
https://www.2carpros.com/articles/upper-control-arm-replacement
https://www.2carpros.com/articles/how-to-release-a-ball-joint

By replacing all those wear items you will have significantly improved ride.
Keep in mind that it is nearly impossible to get to exactly like the 'new car' ride quality, as you will still have frame and other components that are worn.

I have attached the diagrams for your reference.

Please let me know of any questions.
Thank you.