I too found the seat cushions a bit soft in our 5.0TA, so went to a local foam shop that does beds and seat cushions, and tried out a few other densities of which he had about five. I chose one that was the next level denser and now find the seat cushions way more comfortable.
I would highly recommend doing similar. Much better to select in person than just go by what others bought, as differing suppliers to stores may have a good variance in product. Do not try to go cheap. Any larger municipality will have a foam supplier. I know of a few here in Calgary.
2017 Escape 5.0 TA
2015 Ford F150 Lariat 3.5L EcoBoost
2009 Escape 19 (previous)
“Most folks are about as happy as they make up their minds to be.” — Abraham Lincoln