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Rear Seat Comfort?

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Recently picked up a 2020 MS Performance. Love the car, but my two teen boys complain that the rear seats are not comfortable for hour+ drives. They say there's no support under their legs, like the bottom of the seat is angled too low. Anyone else experience this? I suppose there's no way to raise the front of the seat?
 
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Recently picked up a 2020 MS Performance. Love the car, but my two teen boys complain that the rear seats are not comfortable for hour+ drives. They say there's no support under their legs, like the bottom of the seat is angled too low. Anyone else experience this? I suppose there's no way to raise the front of the seat?
Pretty much everyone who has ever ridden on the rear seats of a Model S for more than 20 minutes has experienced this. There is no solution to the best of my knowledge. The beloved ground-up EV flat-floor drives the knees towards one's chest as the seat back curves the torso forward.

The only remedy I have found is sliding feet and legs forward in awkward poses to gain some thigh support, then shift when the slouching really starts to hurt.