I typically have my seat adjusted so when I extend my left leg its out and fully extended, my foot is almost flat with some wiggle room against the firewall.... no pressure at all, its like and laying on a bed. I'm thinking of removing the stupid mini foot rest / dead pedal that's on the left driver's side. I never use it and when I do it puts pressure in the wrong places, knee, hip, etc. when I do use it. I'd rather have more side to side leg room.
Also getting in and out, if done wrong, will put lots of stress and strain on your muscles and joints. Ensure you've perfected the entry/exit of the Roadster first, then adjust your seat/leg area.
Everybody's different, so what works for one may not work for all.