Yes and no. Softer is faster, to certain extent
Generally when you lower your car, you want to make it softer, and stiffen the damping settings, it other words. if there would be no rumble strips and the track is flat you want the car really low to the ground, on very soft suspension, and bump set up so that the car couldn't bottom out when you brake, accelerate or turn.
How ever there is always some bumps on the track, rumblestrips which you drive over, which either forces you to raise the car, and stiffen the suspension, or stiffen the bump settings. cause bottoming out might cause sudden peak of grip (lasting 0.01 seconds, follower by very weak grip and if the car was turning when this happens, it might make the driver lose control.
If there is lot of elevation changes, like on alps you need bit stiffer suspension, and bump, so that when downhill turns to uphill, wouldn't cause bottoming out, and that would cause loss of control.
The more you have sudden small elevation changes (running over rumblestrips) the higher and stiffer you want the suspension, and the softer you want the bump to be. (generally) and the softer you want the rebound setting so be, so that the dampers wouldn't disturb springs work to much.
Although. The lower and softer you can get it to be without bottoming out, the better it will be.
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