I'm late to the party, but here's my 2c: Steel Butt. Simple time in the saddle. Lots of it. When I first got my 6r, after a couple hours or so in the saddle it was all owwies and cramps.
That was a few years ago. My longest single day-ride to date was eleven hours or so. That was after a year of ownership. I was still sore and stiff when I hopped off when finally reaching home. Even a couple hours or so from home at my last fuel stop, truth be told.
Now? Tank to tank, no problem. (Though I usually stop mid-way for a smoke and coffee.) Six to eight hours tank to tank is tough, but not nearly as tough as when I first got the bike. Just some walking around at the gas station, and I'm ready to hop back on.
I'm 46. My biggest problem now is leg cramps when I first start a ride. After I work them out it's the ankles hurting after a couple of hours. Still no biggie.
As for the seat? On a sport bike, I want my backside to feel what's going on with the bike. I don't want my legs spread wide from a plush seat. I don't want my butt higher and my center of gravity raised, even a little bit. It's a sport bike. I ride it that way. If I wanted a cruiser, I'd get one.
I'm not busting on anybody, and the 6r is a glorious compromise between a true-sport and a standard or cruiser. That's one of the reasons I love it.
But the seat? More comfy is not necessarily better. Steel Butt works!