Couple of things come to mind.
Assuming you used F-250 (Foamular comes to mind) it has a 25.0psi rating, which multiplied by the 144 square inches in a foot, is 3600 psi which is almost double what an average soil (2000 psf) can be counted on to reliably bear weight upon.
However, with practical considerations, the rigid foam has to be "fitted" against the ground or a stone-base, and that's no easy task. The concrete, however, being a semi-liquid at first, will perfectly fit itself to the ground presented.
Last thing is that a 2 post lift is more like a set of 2 jib cranes than a set of posts. It requires the slab to be a part of bearing the overturning moment on each post.
If it were my personal lift I'd thicken the area falling between the posts and not fit the foam into the dugout area underneath it.