Like others here, I also have the issue with the too far forward headrests in our '13 SF 2.0T. I bought this SUV and have loved it (pretty much), but my wife (around 5'7) found the drivers seat VERY uncomfortable due to the headrest issue. She'd drive it, but could not get comfortable and would end up with a very sore neck after a trip of any length. I'm 6' - and didn't have as much of an issue, as I'd lean the seat back a bit. However, I did have a lot of shoulder fatigue. But no matter how we adjusted the seat back, or the headrest (back/up/down) etc, we could not make that darn headrest feel any better.
Today after finding and reading this thread (and not finding much help) I went out and figured there "had to be a better way" and I did find one - a FIX, at least for us.
I reversed the headrest, so that the front faces the rear, and vice versa. MUCH more comfortable on the neck, as you are no longer forced to have a "head down" position!
So, this is not as easy as just pulling it up and out - there are 2 small tabs, or buttons at the passenger side of the bases where the headrest rods go into the seat. I just pushed in on each with the blunt point of a needlenose pliers and this will release the locked rods of the headrest - push in the tab and pull up on that rod. Lean the seat back so that you have plenty of headroom for the final removal of the headrest, and pull it all the way out of the seat. Turn it around and push it back into the seat, and you are done! (It goes in more snugly than it comes out, so you do have to push it in harder).
This allows the seat to be positioned much more upright, as some people like, without pushing your head far forward. Surprisingly, it also feels good with the seat more reclined too. With the seatback up or reclined, you have much more support for your upper back and shoulders as they now actually are in contact with and are cradled by the upper part of the seatback. Seems like that was what it was designed for!
Notes:
1. The headrest can still be "adjusted" up if you want. But since the seat is so tall, and the headrest so tall, we find it fine to be in the lowest position (pushed down all the way into the seat. If you do pull it up, there are no longer any detent locks - you have to live with a friction-fit of the rods into the seat, but it will stay fairly well.
2. There is no longer adjustment of the headrest forward/backward. (There actually is, but it's moot - as soon as you push your head back into the headrest, it moves back to the rear as far as it will go). This isn't a problem, as the far-back setting is soooo much more comfortable! So, no biggie, but it is a note.
3. The headrest now has a much more firm surface for the back of your head, as the softer cushion is now facing the rear. This doesn't bother us, as we don't "push" our heads back into the headrest while driving. Maybe if we slept in the car it would matter more? I also realize that if we were rear-ended very hard, this firmer cushion would likely give us a bigger headache than the other side would, but I'll take that chance. It's still padded, just not as soft. It's much better than total removal of the headrest, and this way will still protect against whiplash.
So, we're happy. We decided to only do the drivers side, as when my wife is not driving, she finds she can get fairly comfy in the passenger seat.
Believe it or not, this was a pretty big deal for us, and we were pretty disappointed before doing this fix. Hope it will work for you too.