I'm 5'10" and I also find the seat very comfortable. Not as nice as some sportier cars I have owned, but as good as any minivan I have driven in.
I don't want to imply anything by this next comment... but my personal experience is that I have found most Japanese cars to be very well suited in terms of "support" for smaller people and most north american cars tend on the larger support. I just did a wiki on average heights based on nationality and it shows the average Japanese man is 5'7" (5'2" for women) and average north american is 5'9"-5'10" (5'4-5'5" for woman). Just a suggestion that maybe there is an influence on design there...
I don't want to imply anything by this next comment... but my personal experience is that I have found most Japanese cars to be very well suited in terms of "support" for smaller people and most north american cars tend on the larger support. I just did a wiki on average heights based on nationality and it shows the average Japanese man is 5'7" (5'2" for women) and average north american is 5'9"-5'10" (5'4-5'5" for woman). Just a suggestion that maybe there is an influence on design there...