Seat comfort is a very subjective topic, everyone's body is different. I'm right there with you though, the longer I've had my Bronco the more I've come to hate the drivers seat. That hole/cutout you describe is the culprit for me too. Its like having a pebble in your shoe, I notice it and don't like it. I find myself adjusting the seats a lot, I haven't touched the seat controls in my truck in years.As a follow up in case it helps anyone in the vast minority that takes issue with the seats, after trying several things I found it pretty much had everything to do with the hole\cutout in the upper portion of the back. That gap, the stitching, whatever it was, just made it uncomfortable to me.
After trying a few things this is the solution I settled on and I'm really happy with it. I bought this and cut off the seat-bottom portion of it. https://www.amazon.com/gp/product/B07TXYWXRV
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