I found the stock seat on my 2017 to be painful, both the low and std. versions. I replaced it with a Corbin "Low" seat, and was quite happy with it.
On my 2021 AS, I again found the stock seat to be torturous. I let a buddy talk me into a Russel Day Long saddle, and believe it is about as good as it gets, for me.
I did the Corbin in leather, with heat. It was firm, but I could choose where I sat on it, and pretty much stayed there. I did like that they constructed a new seat pan that is much more solid than the kind of janky seat pans that come with our bikes. The heat is nice, but I switched to heated gear when it get's cold, so passed on it, this time around with the RDL.
I did the RDL in "Sunbrella" fabric. I have had good experience with that stuff holding up in Phoenix weather on patio furniture, so gave it a shot on the seat.
I did a couple of 500 mile days in the RDL seat when I picked it up at their factory, while making a trip past it. I think it broke in a little more by the 2nd day, but it was comfortable, immediately. The sunbrella fabric is pretty grippy, so you have to be intentional, if you want to slide around on it.
The seat shape works well for me, especially standing off road. The "wings" at the back of the seat actually kind of lock in to your back of knee area, and provide a decent surface for additional steering input. I'm 5'6" and about 170 lbs, 29" inseam, so for what that is worth.
I don't really like how the driver seat hooks in to the mounts, regardless of who makes the cover. It never really feels solid, like the Corbin did. That is a minor gripe, but about the only one I can come up with, other than price and lead-time for the RDL. They are nice to work with, and are willing to do about any kind of customization that you can dream up.
Not a great picture of the Corbin, since I was loaded up with gear, but you get the idea.
Here is the RDL, in their parking lot at time of install.
The RDL is on a sidecar rig. Since I did not have to worry about getting a foot down, I told them to go full tilt on the padding. Seems to work out ok. Sit about 2" higher than I did with the stock saddle in the high position. This would be an issue on a 2 wheel AT.