Driver door armrest removal, padding gone flat?

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2008 CX-9
Does anybody know if the driver's door armrest can be removed? The padding in the armrest where I put my elbow has completely compressed in one spot. Would warranty cover something like this? I'm still under the 3 year/36K period. I wonder if an upholstery shop could put in some better padding. I noticed people had some luck getting their center console lid replaced because of the same issue.
 
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