Have you tried a steering wheel knob? Depending on the style, and if you're comfortable driving one handed, it could bring the grip position closer and/or further from the center of the center of the wheel. I hear they're illegal in some places, but I've used them before. I had them on previous cars that both placed the grip closer (to my chest) and further (from the center) making it much more comfortable to hold with my arm on the door arm rest or window sill. The attachment point on those was off center, so I could have also placed it on the inside of the steering wheel. Just yesterday, I got one that doesn't stick out as far and the attachment point is centered over the steering wheel, which would be less of what you're looking for, but I thought I'd give it a try. I'll add pics when I get home if I remember. I still have one of the old style on my old Chevy Prizm but I haven't installed my new one on the Mirage yet. I may be busy and distracted tonight, so I'll get to it when I get to it.
What I have on my Prizm...probably more to your liking.
What I'm going to try on my Mirage...or maybe I'll switch them...I'm also 6' tall and prefer to recline more than sit at a 90° angle.