I had a look at how I sit in the car today. I'm 6'2" with a 34" leg, so you would expect me to have the seat all the way back. This is not the case, the seat is 4 knotches forward from fully back and in it's lowest position. I sit quite bent knee'd with my right heel is more or less between the brake and accelerator pedals, so that my foot can piviot between the two. My thigh is not really supported by the bolster, so my legs are not "funneled" towards the pedals.
My left foot is on the foot rest, and my left leg, also bent, is perfectly comfortable. The steering wheel is adjusted for reach so that with a straight arm, my wrist will rest on the wheel at the 12 o'clock position.
I can't believe that I've just written all this, even thought about it for that matter, but if it helps a fellow Golf owner to get comfortable in his car, then it can only be for the good.