Bark Beatles seat mod is definitely the way to go long term. For short term, the drivers seat has four mounting points and can put two washers under the front mounting points. It puts a noticeable recline on the seat and helps the seat hug your upper body more and feel more locked in. I’m 6’1 also with a long torso and with the seat at one notch from the furthest back and slightly reclined it fits perfect.
Would still love to drop drivers about 2” at a slight angle back, passenger forward 1/2” and dropped/angled the same.