Sounds like you would be most happy with Bilstein Comfort/Touring shocks (B4). The Bilstein Sport and HD shocks will provide a much stiffer ride. Having tried the Bilstein HDs, I really didn't care for them at all on my W126. The Bilstein Comfort shocks still improved the handling immensely over the original circa 1987 front shocks on my 560SEL.
I have bilstien hr shocks and struts for my h&R's and I have no complaints.
I put on some Bilsteins in the back and removed the rear sway bar and it still drives quite nice.
For now sits on Bilstein PSS10's and gets driven on my days off.
I bought my 2003 with some autostore garbage in the front (Monroe or Gabriel or some such crap - don't remember now) and the rather tired OE Sachs/Boge in the back. The damned thing was scary do drive above 35. Installed Bilstein HD 24-019118 ($203.90 for the pair from eshocks) in the front and the 24-214230 ($185.50 for the pair from eshocks) in the back. Very happy with the result. Took the bus above 100 in Texas and Arizona on the way to California this past January - and what a difference this made! It sat on the road like a flatiron on the ironing board. Also, do keep in mind that Bilstein shocks carry lifetime warranty and the company stands behind it 100%. My S6 currently rides on its 3rd set of Bilstein Sport (after 2 free warranty replacements) in the 16 years under my ownership - Bilstein replaced them each time w/o a flinch. Konis are good, but they sometimes leak. Bilsteins wear out but they don't leak. At least in my experience.
I have a 1993 GL with Bilstein HDs. They are firm but I would not want them firmer. On a heavier VR6 camper I would think they'd be even more suitable for the job.
Bilstein does make an easily-obtained, affordable, heavy-duty shock absorber (front and rear) that's a direct bolt-up option for these cars. It's what I swear by.
I ended up doing neuspeed sport springs and bilsteins. I still need to do sway bars especially rear because it has the stock push to it. It handles great and comfortable.
He went with Bilstein shocks/struts (TC) and MK3 VR6 Neuspeed SofSport springs. About 1 finger of wheel gap all the way around on 15" Steelies with 205/50's. Looks pretty good.
Bilstein Shocks with Eibach springs and Ground Control Sleeves
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