FWIW:
I had a Ford Ka back in 2001 which, after a while became impossible to drive as I had shooting pains down the leg after about 10 minutes. I replaced it with a Mk 1 Yaris, in which the seat was higher relative to the pedals - problem gone. I went to a chiropractor for several years.
My current car - a Skoda Fabia - was the cheapest car I could find with a decent driving position, and supportive seat, apart from a VW Fox. (So far as I can tell they have the same design of seat.)
We also have a Peugeot Partner Tepee - wheelchair adapted, which is good for the same reason as the Yaris - seating position like a dining room chair. The Fiat Doblo which preceded the Pug also had a high driving position. It also had height adjustment and a fore-and-aft rocking movement of the sit-on bit of the seat, lumbar support, reclining adjustment and armrest, which should have made it extremely comfortable - but it wasn't - don't know why!
Everyone is different, but the pointers I use are:
1. How high up are you seated relative to the floor?
2. How symmetrically laid out are the pedals (and do they work against the flat of the floor or against the angled bulkhead?
3. Is the steering wheel centrally placed with the column going away from you straight instead of at an offset angle?
One way to test a car for comfort is to hire one for a day and do a 100 mile (or more) journey.
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