Well you'll have to find bike frame geometry that is "upright/comfortable".
It might be better if you look for Commuter or Touring bikes instead. Most of those bikes are made for comfort.
If you are like me, who wants a racy looking bike but you aren't really going to use it for racing, then yes, CX is your last option. Well most of the times, you can convert any bike into more comfortable bike by setting up your seat heights and handlebar heights as long as the bike is the right size for you.
I have 2012 Kona Jake. It's an aluminum frame so it hurts my ass when I ride for too long on a little bumpy ground. Otherwise, it's a good bike.