Forester is a full redesign for 2009 so seat comfort is unknown until you try.
Another correction is CRV is timing chain as of previous redesign around 2002 or 2003(not sure).
On the RAV4 its a great vehicle. I would skip the 4 cylinder except if price is a major concern. There is no real world fuel penalty for 4 cylinder vs 6 cylinder and an extra 100HP and lots of torque from an ultra efficient 6. My sister who has a 4 cylinder regrets not getting a 6 cylinder.
I will state lastly express your concerns to the Honda dealer and ask for an extended test drive where you try it in the situations you are concerned about. Good car dealers will let you take a “demo” usually driven by a higher up at dealership for a few hours in hopes of a sale. I highly recommend this before purchasing ANY vehicle. My wife purchased her last vehicle because of a dealer who offered this to us and we still love the car (05 Subaru Legacy turbo wagon w/ stick) to this day.