Audi Q7 feels like it´s crashing over expansion joints

I´d try here too.

My 2017 Q7 has slowly been getting worse over the past few months - now when I hit those concrete expansion joints on SZR or the metal grates on bridge transitions, the front suspension makes this harsh thud and I feel it right through the steering wheel.

It doesn´t bounce afterwards, just a really sharp impact that feels almost like there´s no cushioning left.

I´ve had the suspension checked by two different places - one said everything looked fine, the other said my front shocks might be "tired" but not leaking.

I´m pretty sure they´re the original units with about 140,000 kms on them.

I was looking at suspensionrepairdubai.ae/audi-shock-absorber-replacement and it seems like they specialize in European cars, but I´m trying to decide if I should just replace the front shocks first or do all four corners at once.

Also confused about whether to stick with OEM or go with something like Bilstein B4s which I´ve heard are actually better than factory.

Has anyone with a Q7 or similar Audi SUV done this job and noticed a big improvement in ride comfort? The car drives fine otherwise but the harshness is really starting to bother me on longer trips.

Any advice appreciated.