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Quite, much better than the 3, obviously not as much as the X. The key difference was that you sat higher, that the seat was farther up from the floor. The driver alludes to this in the beginning of the video too, the car had Model 3 seats sitting on risers.
Everything was pretty rushed and all, but I'd say it was notably easier to get in and out of the Y than the 3, maybe even the S.
How much higher... Tough to say, but enough that you'd notice it. It had an SUV kind of feeling in the backseat, and for a tall guy like me (6' and a fraction), it definitely felt more comfortable.