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Yes, the stiffest suspension comes when the adjuster is set so the spring is "shortest", i.e. with the greatest preload.
For years I just left them in the middle (step 3) and figured that was close enough for general use, commuting, occasional 2-up, etc. With a light kid on back it's fine, but I noticed with my wife it was pretty spongy so I cranked it up all the way for a 2-up ride, and it really does make a big difference. Then before I set out on a 150miler solo today I cranked it down to "2", and at the end of the day I don't think I felt so beat up.
Now I keep my home-made adjustment tool (a ground down screwdriver) in my saddlebag all the time. It only takes a minute to set it so you are more comfortable.
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