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I am 5'10" around 165lb. I have no problem with the seat. Actually it's so comfortable. I am afraid that I will fall asleep while driving on a road trip lol.
seat comfort varies a LOT from one person to another... Even with the exact same height and weight. I personally like the feel of the seats on the last 8 subarus I've owned more than this car - but I can adjust it to be comfortable, and I do not get sore after driving. The material in my f-sport is nice and there are quite a few adjustments you can make - took a few drives to find the right headrest setting.
leaning the seat back and moving further back can open it up a bit if you feel too tight, mess with it in all directions. make sure to check that the headrest is not too far forward for you.
I'm 6'0 and 220 lbs and I find it perfect for me. My girlfriend is 5'1 110 lbs and she thinks its perfect for her My close friend has the same car and he is 6'4 200 lbs and he fits perfectly too. Props to Lexus for providing a car that fits all shapes and sizes!