Get some growth hormone and grow to where you are over 6 feet tall to where you have to push the seat all the way back and also lean the seat back some to where you are comfortable (so the knees aren't pressed up under the dash). You'll feel like you're driving from the back seat but you'll then be sitting back so far that the little cubby fits just right under the elbow, and you can then rest your arm on it and hand on the shifter and relax away. But if not, then the factory option listed above is the next best thing, haha...
Cheers