I can confirm that the 02-03 seats and 04 seats are completely interchangeable. Did the swap yesterday and everthing is identical, including the airbag hookup.
I can also confirm that the 02 seats' side bolster is a little snugger than the 04. The 04 is wider across the back, then the bolster comes out at a more perpendicular angle. I like the feel of the 02 a little better. I imagine it's a matter of personal preference.
It is not, however, a matter of debate whether the 04 seats look better than the 02s. The blue-toned fabric isn't quite as ugly as I remembered it being, but the charcoal seats are so much better. But my new leather will better than both