These are on the wish list, I have read great things about this is a solution.
Front Seat Jackers - 4Runners, GX and FJs
– Desert Does It
I also looked into seat replacement and any option seemed extremely expensive. I did replace the seat foam myself and that seemed to be worlds better than the original worn down the foam. I have also seen a few posts along the way of swapped seats from a volvo, but it looks very involved.