I have the rider (full custom pan) and pillion (foam+cover) seat, my wife says the pillion seat is soft and comfy (I Had an RDL set setup previously and she said she's equally comfy!). The drivers seat is great for 4-5 hours of riding then it gets to be a pain due to lack of cushion. It's a trade off that I prefer to get my feet fully down without lowering the bike. The RDL was way too high for me. Eventually I might spring for an air cushion or bead rider to tour, and just throw it in my saddle bag when I hit the trails. I like the setup!
YMMV, seats are a totally personal choice.