The first stage was smoother, because as you said "liquid smoother than solid rockets", but the second stage was noticeably rougher than the shuttle (specifically the stage separation/transition, which the shuttle did not suffer from due to the SSMEs continously firing even during SRB separation).
The article is quoting comments from a press event, but I remember on the livestream one of Bob/Doug specifically commented on how rough the ride was as one of the first things they said after SECO/docking (can't remember exactly which). I'm thinking it must have been pretty dang rough if it was the first thing on their mind.
It's unsourced, but I've seen other comments on the internet remark that certain satellite payloads actually can't use the Falcon 9 due to its vibration profile being too rough compared to others rockets.