I actually find the seats quite comfortable, compared to what I have sat in, in the past!
I've done 5 hour drives in this car, non-stop, and had absolutely no aches or pains while sitting in the car, or when I got out.
I have now adjusted the seat into a very "racecar"-esque position. That is, stock/sports car seating, not open-wheel. I find it very comfortable and makes it so I don't even use the arm rests, even when I'm in the car for hours at a time. My hands never leave the steering wheel.
I've set the seat back so it is near vertical. When sitting up straight, the hair on the back of my head rubs the headrest, but I don't actually rest my head on the 'rest. I've then got the seat lowered as far as it can go, and pulled the wheel out as far as it'll go.
The next thing I did was slide the seat forward to the point where my arms are near parallel with my body and the elbows are bent 90 degrees. This puts me in a position that is VERY easy on the arms, and it's easy to manipulate the wheel and pedals completely without any discomfort. It's also a very aggressive seating position that makes it easy to see everything and lets me handle the car quickly. If that makes any sense.