I would only expect to use full travel in a full on save my ass maneuverer where i nearly go over the bars.
This ^^^
Every fork is a compromise. The RS Lyriks certainly seem to struggle to give up all their travel… but my experience is that when you tune them for the support you want they give sublime control and take the hits.
I raced a Scottish enduro at Fort William failing to notice that my 170mm Lyrik RCT3 was in the middle compression setting. I set it that way on a climb on practice day and forgot about it. I made a couple of tweak adjustments and went into race day with this far from ideal setup… but the fork was smooth and controlled everywhere and I was able to hit my lines at race speeds. Probably didn’t use more than 130mm travel but no problems with grip or comfort.
My advice: don’t get hung up on seeing full travel; tune the feel of the fork not trying to hit some arbitrary criteria on the numbers.
That said, I’m surprised you’re getting 30% sag on your pressures. Even more surprised you’re on zero tokens on a 160mm.