Your run of the mill kibble (diamond, purina, science diet, Ole Roy, etc) fits what you describe.
Your higher end kibble, like Earthborne-Blue-Taste of the Wild, etc., do not have this affect as much at all.
I feed both raw and kibble b/c of work, time and life-style. There are times I cannot feed RAW due to time restraints.
It costs me more to feed Kibble b/c I'll buy things listed above as well as Fromm. When feeding these kibble brands, I do not see a physical difference in the dog nor do I see a difference in behavior.
The only difference I see at all is water consumption. Stool size is the same - HOWEVER - clean up is much more a necessity b/c it is not biodegradable like the RAW stool.

I use to feed just like most folks. Started where I could, worked my way up to Diamond and then on to Canidae (I say work my way up tongue and cheek b/c they are almost all the same) and saw all the things you mention above.

I do believe there are very good kibbles out there that are extremely sufficient for the dogs. Definitely a Good-Better-Best just like all things.
Good-Kibble
Better-High End Kibble (grain free and loaded with the right ingredients
Best - RAW