I actually think the seats on my 2006 are comfortable. However, when in Detroit, the seats on the 2010 are very comfortable as well, more so than the 2006. i think great attention was paid to the increase in comfort, and now with adjustments.
for me personally, the 2009 is simply not an option because there's no seat height adjustment. I'm short and there is no way I'm going to buy a $30K car in which I need to sit on a pillow or cushion. So with that constraint the 2010 is the first Prius model I am able to consider purchasing.