This sounds a bit off the wall, but I've just bought a device called a CG Lock which could be of interest to you.
Basically it allows you to tighten the lap belt and lock it in place to keep you firmly in the seat (bringing similar benefits to a harness). It's touted as mainly a performance accessory, but I've found that it has drastically improved my perception of the ride of my car, a LS400 with the Dynamic Handling Pack (17's and lowered springs).
I was annoyed as I found the ride a bit harsh, been using this for a couple of days and I'm very pleased - I feel really planted in the seat and much more settled and I am feeling a lot more comfortable.
It's under £50 and has a full money back garantee, so could be worth a try. The link is here if you are interested:
http://www.cg-lock.co.uk/The site says it's not suitable for our type of seat buckle, but after I enquired I found that it will fit and work fine, just has to be reversed when fitted so the logo points towards the seat.