My parents have a 2005 Honda Civic. They used to live in Galveston and I went to UT Austin so I made that 4 hr trips quite often when they come pick me up for holidays and etc. The biggest discomfort I found with long drives is my lower back. I've always had to shift around in my seat or switch between sitting up higher and lower to rest my back.
My new CX-5 GT have power adjust lumbar support, which makes a huge difference. The seats are firm but comfort, so it won't feel like you're sitting on a sofa, but the lumbar support really takes care of the lower back stress for long driving trips. That's comfort from the driver point of view. CX-5 is sporty; the suspensions are tighter than your avg luxury cars, so don't expect limo like drive, but I like that as a driver, since it feels more engaging and more connected to the road, instead of floating.
One thing I really wish the CX-5 have is arm rest attached to the front seat. I looked at Honda CR-V too, and really liked the arm rest that folds down on the right side of the seat. I mostly drive with just my left hand and it would be nice to have a place to rest my right arm. The center arm rest of CX-5 is a bit low and pointless. But CX-5 was better in so many other aspects (I tested highest trim for both cars), with auto turning headlights, auto wipers, 8(?) way adjustable power seat, auto dim mirror, blind spot radar, adv keyless entry (don't ever have to take the key forb out of pocket), semi-manual shift option, not to mention the handling, that it was no contest.
I too was in the CRV versus CX5 buying contest and picked the CX5 two days ago. I took extended test drives with highway miles in both vehicles and the CRV arm rest almost swayed me to the Honda. Other performance and road feel features brought me to the CX5. I might build an arm rest from a stiff piece of seating foam and upholster it to match my Sand leather interior. It will wedge between the 2 front seats and can be thrown in the back when my wife or son drives.