I think that's a function of the SR5 without suspension upgrades. I felt the same way and ended up trading in the SR5 and buying a limited. I no longer feel like it nose dives and I think the seats in the Limited are a bit more comfortable. No seat crunching in this one either. <3 some XREAS for sure.
Ltd has the same seat. My beef is not with the cloth, it is with the position or lack of positions after driving a while. The Ltd also has the same brakes and same cheap plastics inside the dash/center stack. I am sure the XREAS makes a huge difference though. Im going to cut my losses on it. Luckily the resale value is good so Im going to dump it this spring. Going back to a BMW 3 with a 3rd Gen or 100 series LC as a backup for my SUV needs.
I had a 2010 BMW 328xi Coupe and 2000 4Runner I dumped for this. Saved me some coin but I miss each one of those vehicles. Finding a 2010 or 11 E92 is simple, its finding a nice 3rd Gen like I had before thats gonna be tough!