[mmanulis]

For touchpad, replace Synaptics with libinput and it just works (tm), including palm rejection.

[solarkraft]

Gestures are still hard. Scrolling is becoming fine (mostly with recent apps based on GTK3/Qt5), but other gestures are still barely recognized even with hacks, at least for me on Elementary. I think it will still improve over time, but about as slowly as it has in the past.

[fusiongyro]

This was my experience as well, on the Precision 5520.