This has been and continues to be a thorny issue in my side. This technology is in its infancy, so I suppose we need to be a little understanding of that.
With that out of the way, I found a few ways to mitigate this issue:
With the POST PROCESS. You can create a softer effect from the lighting that can smooth (all) edges.
You can increase the “Final Gather Quality” in the POST PROCESS.
Check out information on Lumen and how it bounce-lights objects here: