Have you had a bike fit? If not, you definitely should.
You should also not assume you necessarily need a more upright ride, in my case the issues were alleviated when I switched from an endurance road bike to one with a much more aggressive geometry.
So try a few road bikes if you can from different manufacturers. Make sure to not limit yourself to big manufacturers like Giant, Trek and Specialized as I find these have very “vanilla” geometries that are not very opinionated. (Just think about it, and it makes total sense for them: they want bikes with mass market appeal, they want to make the Honda Accord of road bikes.)
Inspired by @batwood14’s new bike, how about an Open UP with wider tires? It isn’t just an endurance road bike, it is also a gravel bike that can take bona fide mountain bike tires. Food for thought.
When I rode a Domane SL6 Disc last (admittedly 4 years ago or so), I, too, found the ride to be dull and disconnected. Put another way, I had very little idea what was happening at the wheels, and it did the opposite of inspiring confidence. I found this very unnerving. I think you have conflated two points here: one is a soft/cushy ride, the other is planted and stable steering (= the opposite of nervous steering).
Honestly, I don’t really like the Domane, there are other much, much better endurance road bikes out there. Ones that are more comfortable, yet feel more connected to the road. Others that are more versatile. You name it.