Some will tell you that the bike will rise/fall between rider, rider plus luggage, and rider plus pillion plus luggage. However I've never seen this, and it doesn't make sense if it does. All that is happening between these settings is changing the preload, and so on an unladen bike there will be little compression on the rear shock and so changing the preload won't make the bike rise/fall by any significant amount, at least not enough to see with the naked eye imo. Maybe if you've got the bike laden with luggage you may see it change a touch.
However, changing the ESA from road to off-road and extreme off-road you are actually changing the suspension travel and so will see the bike rise fall. Sometimes it even shifts on the side stand which is a bit unnerving
Back to the original question, I find quite a dramatic difference between Comfort, normal and sport, much as I do on my M3. I don't even have to be riding spiritedly on the bike to notice it. For example, if I'm riding on the shockingly potholed roads of Sheffield in sport my back takes a right pounding. Flick it into comfort and a lot of the shocks are absorbed. It's much more of a 'floaty' ride in comfort and a great option when you've had a long ride and are knackered and just want to ride home in comfort