Wife’s Volvo S40 is really comfortable, for both of us and I’m almost 6’ and she is 5’2".
Our 2003 Audi A3 had amazing bucket seats and was good for an after wok 7 hour drive to the other end of the country to see an Audi tt, which we bought and was awful.
Both the Volvo and the A3 had firm seats, I think that really matters.
The seats in our dodge caravan have been the most comfortable so far. Hate to say the rest of the car has not been as reassuring, but at least even if we are waiting for the tow truck we can relax and enjoy the scenery.
Galant nails it. I bought a 1989 Caravan in 1998 after getting tail ended in Austin. Lousy car, but long trip comfort was fantastic. Something about legs hanging down makes for a completely different driving experience. I went to the Midwest to pick up my buddy for a visit to McAllen. When he got home, he went out and bought a mini-van as well. My Sienna is pretty much the same. Driving with feet extended sucketh.