I would have a look at the dials on the bottom right hand side of the seat to adjust height and support.
Took mine in to the stealers because of a faulty stereo and it tooks me a good couple of days to find my ideal seating position again.
Try looking around the health and safety directive because it clearly states the correct driving posture, if for any reason you cant recreate it then 14 day the car on unfit for purpose grounds.
I would safely promise you can get the correct position, have you even tried adjusting the steering wheel height? This will affect you reaching distance as for getting in the car try swivelling like your getting on a stena stair lift, I get the impression you should be used to that.
I love the storage space, I mean fags, lighter, phone, wallet, glasses oh and a spare seat to put a lady friend on genius, love those thoughtfull japanese types for creating such a master stroke in todays world.
My old car was a civic type R and that not even close