Holding the bolster as you get in is a great idea! It's nigh impossible to enter the car without brushing the side of the seat, but getting out is more straightforward if you put both feet on the ground at the same time. What long-term wear that actually puts on the seat base as you swivel around is another matter of course...I'd hope so! My last car was out of warranty before being bad enough to do anything about it, so I would say just go to them and kick up a fuss while you can and maybe they can sort it. If you do, let us know how you get on.
I've got into the habit of lowering myself into the car with my right hand behind me holding the bolster, so for now (about 11k miles) it still looks okay. But I can still see it degrading over time.