My partner pegs quite often but we do sometimes run into issues with her knees hurting in doggy for extended periods. I'm hoping to find some sort of table/bench/whatever that would allow for both doggy and missionary for her and I (I'm 6'2 she's 5'4 so being able to adjust it for appropriate height is important). Hoping to find something that can also accommodate missionary, I notice some are geared only towards doggy, which is the favorite position but like to go back and forth. And finally want something where in doggy the penis is easily accessible from the back and underneath.
Any and all ideas and recommendations are appreciate.

TIA!