I bought a L/certified ES 350 base about a month ago with 12k miles, the driver's seat has been digging into my leg on the right side. Have any of you dealt with this? I have the dealership looking into this, and the loaner ES 350 I have seems to be doing the same thing.

Many complaints about this - search the forum threads. I guess you didn't notice this on your test drive?

It wasn't noticeable until after being in the car for an extended period of time. Are the luxury seats better? They said they may be able to put these in, not sure on the total cost yet.

I have the same model and year car. The seats are unusually firm and feel inadequately padded. But after a short time, I got used to it and don’t even notice it anymore. Maybe that will also happen in your case.

The base ES has 10 way adjustable seats, while the Luxury and UL models have 14 way adjustable seats. The 14 way seats have an extra adjustment which moves an extended leg support up from the front of the seat to add support to your leg under the knee. My previous Lexus (RC) did not have this, but my new ES UL does, and I find it provides for a more comfortable seat, especially on longer drives.
It does not look to me like the 14 way seats are included in any of the "Packages" available for the base modes, so I guess the only way to get these would be to buy a Lux or UL model, or order a new driver's seat as a part and replace your existing seat.
I'm not sure what is causing the leg digging of which you complain, but there is a good chance that the 14 way seats would help, assuming that the configuration is compatible and the leather matches the rest of your interior.
Visit the dealership and try one out, but it's going to be pretty expensive, I would think.

I'm not sure - I have the FSport seats which are super comfy but a different animal from the others.

I looked into this, I think the price is between 8-10K to replace both front seats which is probably not worth it at this point. I may just get rid of the car and get another camry. I had a 2023 camry xse and the seats in that were absolutely fine, I only traded it in because I had been looking for an ES 350 with a certain color for a while. I had a 2016 ES 350 and never had an issue with the seats.

You could buy a rear-end totaled Luxury or Ultra Luxury at Copart, swap out the interior, resell it, and come out way ahead.

Are the F Sport seat bolsters wider than the normal seat? Based on pictures I saw they appear to be.

I don't know if its as simple as swapping seats. could have different airbag timing depending on configuration and/or location. Even if it's 1:1 (and an important if) could you just swap out an airbag and expect the computer to accept the replacement? Without knowing the exact precise answers to this and I expect only Toyota knows, I would be hesitant to mess with this for safety concerns. Airbag timing is so incredibly extremely important. a few milliseconds off in either direction can make a huge difference

This is something I would have the dealer do, I'm not messing with the seats myself.

Yes they are, and I personally find the F sport seat to be far comfier than the seats on the other trims. Fits my body frame perfectly and have never experienced driving fatigue. Longest trip for me was 3-3.5hrs round trip.

They hug your body much tighter if that's what you're asking - but not so tight that it's uncomfortable.

A few years back, I did two eight hour drives in three days. No driver fatigue at all - but the wedding was crappy

I currently have the premium seats, is it possible to get the F Sport bottom only and would it work on the same seat platform?