You are going to need to do the work of taking various models on long test drives. There simply is no other way to find one that will work for you.
I suffer from disabling degenerative disc disease and arthritis. Oddly, one of the very few vehicles that I can drive without pain is my Scion tC. It has a low but laid-back position that suits me perfectly. I can drive all day long without discomfort and have many times.
You have to find your own perfect ride the hard way. Nobody can do it for you.