@tibotiber, what you are seeing in the third screenshot in your original post is baked lighting from a ray tracer applied as a texture. This could be applied as a shadow map or it could be just used as an unlit texture if you don’t want lights in your scene. There is another thread where I talk about this process and how to set it up for Babylon.
You could use SSAO to get more of an AO look to your model if you don’t want to bake lighting, but that is expensive and would require WebGL2 and if so you would run into some problems with Safari. However, if you want dynamic soft shadows like in that screen shot, you would definitely need WebGL2 to use our contact hardening shadows and those are expensive due to the sampling and blurring dynamic shadows.
You could go the route of baking your AO map and then a shadowmap and still have some punctual light in your scene, which would open up shadows from the shadow map if needed, but doing something like simulating time of day changing wouldn’t work.
Basically, unless you need to change the shadows based on lights moving around, it is always cheapest to bake your shadows. If you need to move elements within your environment to be able to be repositioned, you could bake your shadow map for your environment and use either a shadow catcher with a baked shadow for your furniture or rely on real time shadows for your furniture’s shadows cast onto the environment. It really depends on the look you are going for and what you need the scene to do. Hope this gives you some ideas.