It is not ideal but have found it works pretty well. I must admit the seats appear to go much further back on the latest model against my previous 64 plate vehicle, maybe why i don’t have the problem knocking into people’s legs.
On another track do you start your car in P or N? The handbook recommends P but having driven automatics for many years was alway told to start in N so you don’t have to move through reverse to get to D fo obvious safety reasons.