I had comfort added to my gateway by the guys at VAG Retrofit & Coding. They are still working on getting the Driving Mode menu to popup on my infotainment but I get the indication for mode change in the cluster and on the top line of the infotainment screen. In Comfort it still allows for some body roll and it does a good job muting road imperfections. I haven't spent much time in Normal but it seems pretty close to Comfort. In Sport I can feel everything in the road and body roll is greatly reduced. I'll be in Comfort mode 99% of the time with the other 1% in Sport for canyon drives.
I changed my infotainment (bad unit) and lost my driving modes pop up. To get "driving modes" pop up menu I changed this line of adaptations code in 5F (infotainment) to active.