I am a daily commuter and I have been riding (mainly) road bikes on the road for over 40 years.
Comfort is important to me and more so as I spend longer periods in the saddle.
A setup that suits another, may not suit you and vice versa however, there is plenty of information on settings to get you into the ballpark. Improvement requires a bit of experimentation and sometimes a good "eye" comes in handy.
Body position, especially when in motion, is not static. I consider riding position to be somewhat "dynamic" therefore, some range of movement must be accommodated within your static bike setup.
I have found that riding position (mainly fore-aft along the saddle) changes in varying degrees dependent upon multiple factors, E.g.: cycling-fitness level, energy levels, pedalling technique and predominant workload characteristics (E.g.: climbing, time-trial, interval, climate, load carrying, etc.)
Given the same frame, changes in equipment such as, shoes and/or cleats, bars and saddle, can also have an impact.
I generally won't make adjustments to my normal, stationary ("static") setup if changes due to the above-mentioned factors are temporary and I can make "dynamic" changes by moving my body around to accomodate. Otherwise, I have found that minor adjustments to the saddle/seatpost/bars (1-5mm) may be necessary if "dynamic" adjustments aren't sustainable, E.g. induce significant discomfort, or risk
Based on my experience, the initial choice and adjustment of your normal static setup should allow for minor "dynamic" adjustments in your riding position -as necessary. If you find that you can't comfortably accommodate minor changes in riding position, consider further adjustments to static setup. The important points are: Make minor adjustments in one aspect at time (eg. seatpost height). Record your changes (via marks or notation) and allow sufficient time for your body to adjust to the change before making another change or reverting to a previous setting. Remember there is a difference between "uncomfortable" and "unfamiliar" in terms of position.