UncJ I know what you mean about the bolsters on seats as I’ve a spastic left leg and they can be a pain. Also with new cars having wide central consoles I believe that the seats are a bit narrower which doesn’t help. On my last 3008 I actually drove for about 2 years with a folded up towel on the seats to raise me up and stop them digging into my thigh.
As for the zrv I’ve sat in one and loved it especially with all the kit, but it’s too small for me.