Go to User Preferences > Addons, search for and enable "Node Wrangler".
Once you have it enabled, when you are in the shading tab, with the Principled BSDF selected, press Ctrl + Shift + T. This will allow you to load a whole PBR set at once (navigate to the folder and select multiple files). It works fine with Substance Designer's default naming scheme, except I think it has trouble connecting the BaseColor. You can do this by pressing Ctrl + T with the BSDF selected to load a single image texture connected to the basecolor and then choose your image that way, or you can Shift + D duplicate one of the other image textures, load it that way.
This shortcut method sets up the displacement for you, however how much of an effect it has in EEVEE is somewhat a topic of debate (as far as I know, it's not supposed to do something, but it does - but not always the best result). Instead, I sometimes prefer to run my displacement through a Bump Node. Either way you choose, also note that the default strength of 1 (on any of the bump/displacement/normal nodes) is often too high and gives undesirable results. I've sometimes needed to go as low as 0.1 before it looks right.
As a side note, make sure to make use of the Scale values of the Mapping node - I find many textures exported from Substance are scaled too large (1/4 tiled or so) and benefit by scaling by at least 2 or 4 on the X and Y.