I like the front seats, I think they are pretty comfortable. I do like the side bolstering as it gives me the support needed in turns.
For me, the seats are not too firm at all. I took the car on ~4 hour each way trips and felt pretty good when we reached our destination.
The driving position could be better however. When I first got the car I had to tweak the seating position and steering wheel position until it felt just OK. I think the ergonomics of where the hand-rest and distances to the steering wheel and center console are not ideal for me. Both the hand-rest on the door and center console should be slightly closer to the center of the seat and steering wheel should extend slightly more, at least for me. I tried many combinations, including getting much closer to the steering wheel than I am used to, seating higher, lowering the wheel, etc. Finally, I went back to seating far, relative to the length of my arms/legs, with normal elevation but wheel lowered such that it almost blocks the top part of the speedometer.
In practice, I get along pretty good, but not excellent. The result is more arm fatigue than my previous ride. With the seat feeling better on long drives, it is kind of a wash in comfort.
My son tells me the back seat is very good, though he like my wife's car back seat better. He has strong opinions in the matter. I have yet to ride in the back, but stationary the back seat seems very up-right.