I found that it wasn't so much the style of bars, but getting the configuration right through trial and experiment. That's not to say all types of bars suit all people, just that I've found configuration to be essential.

I've toured on flat bars with bar ends, drops, and trekking bars -and I'm hard pressed to really say one was much more comfortable than the other (perhaps the only thing I can say is that the flat bars were slightly less comfortable, but still not bad). What was common in each case is that I had to go through various stems/quills and bar widths and in some cases different handlebars of the same type before I got to where I was happy.

Trekking bars were the worst for me to get comfortable -I was about to give up on them when I swapped them to a converted mtb bike and to my amazement found they were really comfortable -I've never looked back. I've currently got at least 2 quills/4 stems at home I've bought and tried at some time or another -not counting all the ones I did get and have fitted to the bikes I have. I also have a pair of drop handlebars I've got to ebay after realizing that no matter what stem I put on, the reach just didn't work for me (reach, width and shape can all substantially change how drops feel).

And yes, adjusting the handlebars or changing them can be time consuming -but honestly, you want to be comfortable don't you? If you go touring you could be faced with hours and hours of discomfort versus the hour or two it might have taken you to change them out. Even if it took longer, I'd still take hours of testing/swapping to be comfortable ultimately.