I am a Travato owner (and love it).
But you are NOT mistaken. Both the driver and passenger seats put you in a very "upright" position. I was concerned about that same thing. I have grown to really LIKE the drivers position (more so than my laid back conversion captains chair in another van), but I still do not find the passenger seat very comfortable for long distances. The back DOES recline, but the BASE of the seat does not tilt back very much. I guess this is because of the swivel base added to the chairs, as I have been in another promaster where the seat reclined "better" but had an entirely different (non swiveling) base.. I have taken a pillow and put it under my thighs, and put my feet on the dash, which is reasonably comfortable for "lounging". But more importantly, My wife likes it just fine, and since I do about 80% of the driving, that works for me. Actually, if I am not driving, I am usually doing something in the back (like sleeping).
Edit: Reading Erics post, and rereading yours: If the drivers seat felt OK to you, the passenger seat should as well (they are the same). In a G, you may have to slide the seat forward a bit to clear the tank seat behind it in order to get full recline..