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I would say that with harder suspension setups, less energy is dissipated in the dampers and possibly less friction losses in the springs but the vehicle will be raised more over bumps which takes more energy.
Whereas soft suspension setups will absorb more energy in their dampers and the springs but the actual vehicle will not be raised as much over bumps.
My guess is that it depends highly on the type of terrain you are driving on and the speed, and therefore neither setup is definitely more efficient than the other at all times.
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Power, whether it be measured as HP, PS, or KW is what accelerates cars, gets a car up to its top speed, and determines how far it takes any wall it may hit, with it.
Engine torque is an illusion.
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