I couldn't agree more. I think they truly should. My friend has a PS4 and I've tried that controller several times. It's so much better than Xbox One, it isn't even funny. It's light and has a much better ergonomic design.
My hands are too tiny for the Xbox One controller plus I feel the hand fatigue quite often.It's too bulky and huge for me. It's a shame.
I'm confortable with the xbox controller as it is right now, don't think a full update should be necessary.
The only thing I don't really like is the dpad, something is very little responsive or it gives the wrong input when I press it. Might be just a problem with my controller, not quite sure about it.
I don't know I'm actually pretty happy with the Xbox One controller, what kind of games do you play that make it uncomfortable? I'm playing a ton of Injustice 2 right now and the DmC definitive edition for pretty long sessions and don't get too uncomfortable