No, wearing boxers is not uncomfortable.
In fact, they provide comfort, unlike any other undergarment because of the following reasons:
Fabric: Many boxers are made of 100% cotton, that makes them an excellent option for everyday wear.
Fit: Boxer shorts offer high comfort and firm support for various everyday activities.
Breathability: Cotton fabric is known to expel sweat and odour. This feature, in particular, makes boxes breathable during a hot summer day.