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I used to think my entire body should contour along the seat, and I sat too upright, so this was a problem for me as well. Then I realized you’re not actually supposed to rest your head all the time and you can recline the seat to the point where the headrest doesn’t angle forward too much. Just scoot forward a bit if you can’t reach the wheel. Now I drive more relaxed. Also, some cars’ headrests can actually be adjusted forward and back.
If I reclined the seat I wouldn't be able to see out! I add a 2 inch cushion just to prevent the seatbelt from sliding up and crushing my windpipe. And I have to drive with my fingertips and toes to prevent the airbag from killing me.
Why is everything designed for a 6 foot man when more than half of drivers who spend a lot of time on the road are women? Why has there not even been a proper female crash dummy? I drive a minivan because it's adapted to my husband's wheelchair. But even regular cars have similar misfits.