>>7594073 (OP)Sorry for the quality, I drew this a year ago and the photo is also kind of blurry, but I think I've cracked the code on this one. This is how I draw nearly every day and I don't run into any of the problems that every other drawing position seems to entail.
Basically, I have my mattress flush up against a wall with a chair shaped pillow for support. I slide down on it a bit so my shoulders and neck are still straight but I'm in a kind of hammock position. From there I bring both of my knees up and lay a clipboard across them and put my sketchbook on that. This let's me draw straight on while also laying down. (In the photo I drew one leg draped over my knee which works for short spells, but usually I have them similar to the second figure.)
Bonus points are that I have my T.V. at the foot of my bed hooked up to my computer so I can bring references up and just glance up from my sketchbook at them, and I have a wireless keyboard with built in trackpad so I don't have to worry about any logistic issues with navigating my computer. I've been doing this for a year now and it's top-tier.