Either fork will be epic. The general consensus is that the Lyrik is easier to setup but the Fox has an extra adjustment.
I believe the Lyrik has low and high speed compression adjust and low speed rebound. The Fox adds high speed rebound adjust.
Both are similarly stiff and I’ve never seen any comment about either lacking in that department.
From 2019 to 2020 RS improves the seals on the Lyrik / came up with a more slippery grease or damping oil or something like that – and they changed the range of the hsc adjuster I think.
Not sure what Fox did between the 2019 and 2020 versions.
The Lyrik seems to be coming out marginally on top on magazine reviews but essentially the view is the Lyrik is more plush at the start than the Fox, it perhaps the Fox uses its mid range a little better.
Manitou Mezzer has a good review in a recent test but can’t remember where, but it’s not on very many bikes at the moment. Most of the other brands have a decent burly fork but I think I’d go with the Lyrik (probably a red one) as it’s normally cheaper than the Fox 36.
Note I have a 140mm travel 2017 Pike with a charger 1 and debonair airspring, plus a 2017 Lyrik with a charger 2 (rct3) and debonair airspring – 170mm travel.
The Lyrik is definitely better than the Pike but it’s hard to compare objectively with the travel difference. Shortly changing the Lyrik to 140mm as swapping out my Enduro frame for a shorter travel trail frame. Will be easiest to compare the difference at that point.