E uncomfortable for long drives

I've had my E since since brand new in 2004. It has never been a comfortable ride. I'm 6' and no matter how I shift the seat or steering wheel, I'm either stretching my arms to drive, which puts a lot of stress on my aging shoulders and back, or I'm up too close with my knees hitting the wheel. I could better tolerate the wonky seating position when I was younger but now in my 50's I can't drive for more than 3 hours without putting knots in my shoulders and back that take weeks to iron out.

I don't want to sell my E because it is so practical, but I need help to keep us together. Searching around I haven't seen too many options. Tried lumbar support and that didn't make an improvement. I saw a single mention about CRV seats maybe fitting. I have side air bags and would like to keep that safety feature.

Has anyone had a similar experience and found a way to make driving their E more tolerable?