HJ has recommended on his 'Agony Column' many times that the 'cushion' type speed humps should be straddled if you run a medium or smaller car, never mind what the tyre depth to height ratio is.
As others have said already, I doubt if the occasional trip in such a way (e.g. once a week or less) over such humps will do any meaningful damage long-term that couldn't be rectified when you get new tyres anyway, but if you have to go down a road on a regular basis, or the cushion humps are damaged at the edges, then HJ suggests that you slow down to (I would guess) 10mph or less and put one pair of tyres (front and rear) directly over the centre of the cushion so that the load is just in the vertical plane and reduced as to not put too much force into the suspension strut; the other pair just on the flat road. The problem can come if the road is busy and this isn't possible.
I agree than the lower the profile of tyre you go to, the worse the effects, especially of straddling the cushion humps.
With the 'standard' ramp-type road humps, I always judge the speed to which I drive over them on a case by case basis - some are far higher and/or shorter than others, both of which puts a greater strain on the tyres and suspension if your drive over at higher speeds. On those ones, I tend to drive over at 5-10mph slower than over the shallower/longer ones (20-25mph).
Some badly maintained ones often come with broken or (particularly) sunk sections of road just before the hump up-ramp, which exaccerbates the problem (it makes the hump artificially higher), as does braking late just as you reach the hump itself, putting even more force through the wheels/tyres and suspension. I find its best to brake a bit earlier, keep a constant velocity over the hump and only then acclerate after the car has left the hump completely and the suspension has taken the car back to its normal position, as braking late pushes the nose of the car down, and accelerating early does the same to the rear.
I agree with others comments about the 'old style' sleeping policeman type road humps, especially the rock hard concrete ones - reduce your speed to walking pace, perhaps only 2mph and just coast gentle over them - I made the mistake (only once) of gojng over one at about 15mph that looked quite small when I was on holiday, and it made an almighty bang - I was lucky that the suspension on my car at the time (a 1990s Nissan Micra) was not irreparably damaged. I now tippy-toe over it. These speed humps often crop up in older trading and business estates and are not in good repair either, sometimes with sharp edges.
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