All I really have are my own experiences... and what has worked well for me.

First I an old man and have ridden road bike off and on since my early teens. I've had some back problems as I've aged and discovered conventional upright bike riding to be undesirable. In an upright cycling position any bump is a spine pounder... for me.

I find the [correct] road cycling position to be the most comfortable. As the weight is distributed between the three points of contact. Feet, saddle, and hands. So nothing gets stressed. I do prefer a "less aggressive" cycling position... with the handlebars/hoods about the same height as the saddle. And of course the bicycle being the correct size and properly fitted.

Working on position finesse... with bent elbows, lifted butt, and hips tilted as needed for optimum force/comfort are all part of being comfortable. Once the right saddle along with the positioning mentioned is found.... riding the bike is as comfy as sitting in an easy chair.