I don’t think taller trucks make you less exhausted. It boils down to how comfy the seats are. And cars and smaller SUVs typically have more comfy seats, unless you have a newer truck that boasts a car-like ride and comfort.
As for tips: Check out some videos on how to properly adjust your driving position. Get something for lumbar support if your car doesn’t have it. And take breaks, don’t force yourself to drive all the way in one go.
Every few hours or so, refresh the air in the cabin by opening a window for a few seconds.
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