I've had my RZ Camry since new (2017)
The "jarring ride" is due to this car having a "sports suspension"
This is part of the difference between the RZ and say the base model.
So whilst the turning circle is unchanged compared to the other Camry's and is still not great compared to say a Subaru Liberty of the same production period, it "hugs" the road better then other Camry's (of the same year model)
So it feels "less boaty", and more stable on the highway, especially at the higher speeds.... or so "I've heard" 😂
The SL is a completely different car, the last of the Australian built Camry's were in 2017,
They then "changed shape" a.k.a completely new car in 2017/2018 and these were built in Japan
The "SL" is part of the "new range" that is built in Japan
Changing tyres / having them inflated to the "correct" pressure may help, but on the whole and I'm not sure how else to put it....... but that's the "traits" of the car that you purchased.
As an aside, please ensure that you have been doing the "in-between" oil changes and using a full synthetic oil 🙂
So depending on your budget, it may be time to change "rides", which if this is the case, check what your car is "going for" to see if trade in value or selling the car privately is the best option.
I hope that this helps 🙂