The seat height is spot on for me but then I'm 'leggy', Mrs SD is shorter but she still gets by, a ride height a couple 40mm or 1 1/2" lower would be spot-on for her, the pillion part of the seat is about the same height as the riders part.
Seats are firm but as said are OK (for me) for a couple of hours without a break but if needed I guess an upholsterer or bike seat specialist for lower/make softer the seat.
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