Ford is hit or miss with cloth seats, as well. These seats are OK for around town; however, any travel over 300 miles and we start to get pains that only old people should feel, as well as numbing in the lower extremities. They're cloth, which should be more comfortable, but seem to miss all the right places. My 2000 F250 Lariat had leather, and those were super comfy. I love the massaging seats in the new Fords, and am looking at upgrading to leather as well. Katzkin has a massaging option, along with heat and inserts that are supposed to improve comfort.
Eventually, when the kids are finally gone, we plan on either replacing it or getting a second one for travelling (Navi Reserve at this point) with all the bells and whistles, included factory massage. For now, we just have a few more years to deal with it, and the Katzkin option is much cheaper than buying another car.