I use this on bad day https://www.amazon.com/ComfiLife-Premium-Comfort-Seat-Cushion/dp/B010TLSFA6

I second quality rubber floor mats. Also like door edge trim to guard against knicks.

And I use a cushion in this shape (no knowledge of this particular one but the cutout makes a bigger difference than youd think https://www.amazon.com/dp/B010TLSFA6/ref=cm_sw_r_apan_glt_i_dl_0FDS25DJ118SAHBWAAE4 )

As I rarely have back seat passengers I remove the headrests in the back for better visibility.

Not sure if that is what you are thinking of.