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The stock shock has very short travel, and very heavy compression damping, hence the "hardtail" like ride. Replacing the stock (un-rebuildable) unit with any Japanese or aftermarket unit that will fit, will most likely yield a better ride.
I did mess with the spring preload on my stock shock, but it was never satisfactory. The only reason I can guess that the manual would ask you not to do it is that 1) if you loosen it too far, you might run the risk of the spring retainer falling out, and a subsequent collapse of the rear suspension, and 2) tightening it up too much may induce coil bind at some point.
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