I have comfort seats (not the ones shown above)

With the seat adjusted correctly my head does not rest on the head rest while driving nor does it in any of the cars I own.

I have always thought of the head rest as an anti whiplash safety feature and for a passenger to sleep on. I wouldn't want it to touch my head while driving as it would get in the way when looking side to side and over my shoulder.

All just MHO of course.