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I had Ivan at DCTMS pad and cover mine in perforated black leather to match the steering wheel I purchased from him. They are still firm, but not nearly as hard as the stock ones.
For those like me looking for a non-permanent solution to this non-problem I found a gel pad that fits and feels like heaven. Pic attached to give you proportion. This is the item if youre interested, really hard to go wrong for $10.
I heartily second that the armrests on the doors are useless. I found a color matching yoga mat and periodically cut a pad that I stick to it, makes a world of difference but is butt ugly. Been meaning to approach one of the Porsche interior shops to see if the would entertain making them, I can't believe there isn't a market.