I have been thinking about AK’s suggestion above that one can train for sitting on the ground, my own recent experiences, and the article presented above. I suggest there is space for all of those to coexist.
I believe AK is correct. My own experiences what she has said about becoming comfortable on the ground. I started practicing yoga casually a year ago and that has changed the ways I sit, lay, and touch the ground. In February I moved to a new place which has lovely polished concrete floors. I wasn’t sure if the move was going to be temporary or permanent so I was sitting on the floor, my bed, one of many pads, or a Helinox/Alite. After a month in my new studio, I was visiting a friend’s house and we sat on a sofa and I groaned audibly in pleasure when I sat on his sofa. I sit on a hard round metal art room stool at work so this really was my first time sitting on something soft in a month. I purchased a small sofa a couple of days later and my body feels better because of it. I continue to spend time on the floor but I’m also on the sofa.
So if you practice yoga and sit on the ground a lot it gets better. Also, Ryan is correct that sitting on a comfortable seat is important part of our recovery process.
Based on my own experience of yoga/floor time I encourage others to try that out and see if you can enhance your comfort on hard surfaces whether that is at home or in the field on a trip where you want to stay light.