Ideal adjustments (full compensation) are more uncomfortable.
Thought to be so, because there's a mismatch been visual and inner ear inputs. That is: you can see you're going around a corner, but you don't feel it. Resulting in motion sickness. Since all people have different tolerances of motion sickness, it's impossible to have a "correct" amount.
Almost all systems compromise between zero and full compensation, but passenger comfort is just one of many factors, and not the most significant. The discomfort on German tilting trains is probably because they are too close to "ideal".