Interesting about the earlier XC40 seats, I think it could’ve been down to leg length, bum size and seat position.
Im 6’3” + so seat right back and low, slender bum, legs no feeling of any discomfort from the seat.
However I’m thinking shorter hight, maybe bigger bums, thighs contributed to un comfort for some.
I drove our XC40 Wales to Scotland many times, sometimes only stopping for a pee, never was the seat uncomfortable for me, this weekend the new MG hs hybrid + is making this journey, I have high hopes as it’s a better car than the Volvo imo