Steering assist setting change?

I posted this in the regular YF forum but thought I'd cross-post here, too.

I'm thinking of having the electronic steering settings changed when I visit my dealer for my next oil change (mine came with a lifetime package). Several other people on the forum have had their settings changed to reduce the amount of assist and have it feel more like a traditional hydraulic assist. After reading through this thread, it looks we have four options:

GLS
Hard
Soft
Sport

For those that have toyed around with this, does Hard or Sport have the least amount of assist? Has anyone been able to A/B these?