Along with the above positioning advice, try to use it so that you can adopt a position where you lean forward more with bent elbows. Bent elbows are the key, the more bend in them the batter. It should be obvious at this will be very tiring if too much weight is on your hands. So fix that issue, then increase your reach so that you can comfortably bend your elbows. Your hands should be light on the bars, The bars are going to go up and down a bit, but your hands should hardly notice it. I ride a road bike with 23mm tires, the front at 80 lbs. No problem with vibration.

You should reduce the pressure in your tires, especially the front. 32mm tires at 85? Like I said, my 23mm is at 80. You're way too stiff in the front. The BQ chart lists one tire pressure for both tires. This is wrong. I run 20 psi more in my rear than in my front on my single road bike. Try 65 in that front. It's too low if cornering suffers or you get pinch flats.