isn't it a fundamentally a trade-off between speed and comfort?
Oversimplification perhaps, but I thought a semi displacement hull generally speaking can acheive greater speeds but at the cost of sea comfort in some conditions.
tankage/range, layout design, storage space, etc...are all kind of secondary or indirect to the primary difference in the design aren't they?
No. SD hulls are very different than D hulls.
Sticking with SD hulls there are a lot of differences between boats. Some lean close to planning hulls, and some lean closer to D hulls.
In a planning boat the run of the bottom from amidships to the transom will be flat. In a D hull it will rise as water moves aft toward the transom for smooth water flow. The chines on a planning boat are generally sharp-edged, and those hard chines very often run up into the bow creating visible sharp-edged chines above the waterline. The chines on a D boat are very soft, to the point where often from the keel to the waterline the shape is round, or nearly so. So then in SD boats the chines can hard, or softened a bit at the edges. With that carried into the bow or not. Often there is some rise of the bottom toward the transom. Planning boats have no keel, or nearly none. D boats have a serious keel.
How much of all of that is present in a SD boat has a lot of impact on how the boat acts.
And comfort when / where? At speed a planning hull can feel quite stable. At rest not so much. Deep V planning hulls are very stable at speed, but roll an awful lot at rest. D boats very often have stabilizers, because those very round chines allow a lot of roll unless dampened somehow.
I would not generalize around comfort, but about ease to drive the boat with great fuel efficiency. Moving it with little power. But that too can be a gross generalization, and I'm sure someone will quickly point out a D hull that is quite comfortable without stabilizers.
Look at it this way. A normal sailboat is a D hull. It is designed to move with the best speed with only a puff of wind to push it. Substitute a puff of wind with a small HP diesel and you have a D hull trawler. Now if ever there was a gross simplification, that's it.