When I'm driving my car, I also never hold the steering wheel in the 10-2 position. That's too much damn effort. I make sure my seat is close enough to the steering wheel so that I can basically lay my arms in my lap and hold the wheel at, oh, 4-8. I see people in SUV's with their arms up on the wheel and go, "Damn, don't your arms get sore?" (that's what she said). Once in a while, such as when changing lanes, I do need to turn my head a tad, but it's only for a few seconds.
Let's also not discount the importance of music in maximizing a relaxed state while in our vehicles. I was listening to a Trance CD this past weekend when going out of town and it was heavenly. Even a few tracks by Celine Dion were able to give me a lift as I traveled to Wisconsin.
One cool thing about my '05 Elantra is that it has a little lumbar switch you can enable that will poke a portion of the seat out to give your lower back some support. I like! All these things allow me to be one of the most relaxed blokes on the road these days.