We just increased the cushion thickness to raise our seats, and did no structural modifications. Our original foam in the cushions had collapsed in the first 8 months of use, we hated the stock Champaign fabric, and wanted more comfortable seats. Our cushions are now 6 inches thick, the bottom 2 inches are a foam called rebound which is a hard glued together foam. The seats are now super comfortable and we are seated higher. The knee to floor measurement has increased and is far more suited our our heights. I am 5'6" while Gary is 5'10" so rather normal in height and proportions.
Other modifications we made were to add a triangle of denser foam to the stock foam seatbacks for lumbar support. We already had 4" pool noodles behind the seat backs to more comfortably angle the upper foam cushions. We recovered the cushions with an aircraft rated fabric, ultrasuede. Good for 100,000 rub cycles. The original fabric standard for Escapes in 2018, likely had this same rating as it was so robust. We just hated the busy pattern, areas that looked soiled or greasy but were just reversals in the nap.
Myrl and Gary