Actually, men's clothes were pretty comfortable at that point - and keep in mind that layers aren't necessarily a bad thing in a world without heating beyond what a fire could provide.
Most everything was made from wool and linen. Very little cotton - some silk if you were wealthy. The shirts were full sleeved, loose, and long - and they didn't have much collar at all; what you're looking at is the stock The vests (called waistcoats) were more fitted; often they were the fanciest part of the outfit. The coats (called justaucorps) had pagoda sleeves and at that point in time they were fairly straight - later in the 18th century they began to mimic female dresses, with nipped in waists and full "skirts." Fortunately, that style didn't last too long. The shoes they're wearing are pretty much dead on the mark - Sean's shoes are the more formal dress heel (often the heels would be painted red, pink, or green). The tongue is perfect, though they chose to leave off the buckle or bow that would normally have graced the shoe. Philip's boots are a little on the narrow side for the period, but it may be that he had them pulled up rather than folded over. Hard to tell. Heels were lower for boots and for everyday shoes. The breeches were probably pretty comfy - the design was not dissimilar to modern trousers and during the late 17th/early 18th c. they were fairly narrow, rather than wide, balloon legged things.
Of course, all that applies if you were male - for women, getting dressed was a royal pain.
Here's a shirt from the turn of the century:
Here's some images that show the difference between the coats of the late 16th/early 17th century (top two images - this is the Crusoe period) and the mid-18th century (bottom two images).
Here's a 17th century boot:
Early 18th century dress shoe:
Waistcoat and breeches pattern from the early 18th century: