The honest answer is: sometimes, but you can’t assume it. Urban outdoor furniture can be left in direct sunlight and still be comfortable to sit on only if the material, color, design, and surrounding shade work together. Left fully exposed on a hot day, many pieces will get too hot—especially dark metal, dark plastic, concrete, and stone. Dark metal is one of the worst offenders because it absorbs heat and conducts it quickly to the surface. Plastic and resin can soften or become sticky, while concrete and stone soak up heat and release it slowly, so they may stay warm even after the sun moves.
If you’re buying for a sunny city rooftop, plaza, or balcony, look for light colors, open weaves, perforated or slatted seats, breathable sling fabric, natural wood with UV protection, or composites with cool-touch additives. Airflow matters too: a bench with gaps stays cooler than a solid slab. Shade is the biggest fix. A parasol, pergola, shade sail, tree, or building shadow can drop surface temperatures a lot. Cushions help only if you bring them inside; otherwise they can absorb heat and moisture.
Even cool-to-touch materials can become uncomfortable after hours of direct summer sun, especially during a heat wave or in a city heat island. Test with your hand before sitting, and move or cover furniture when possible. So: yes, with the right design and shade; no, if you expect any ordinary piece to stay cool all day in full sun.