Whenever I get in or out of my S, I manually raise the steering wheel to get more room to exit/enter. I suggest that TM program the steering wheel to raise up whenever the car is put into Park, and to revert to the passenger setting when taken out of park.
This will also help to remind the driver that the car is in park. On a couple of occasions, I have started to exit the car without taking it out of drive, causing the car to move forward. A bit absent-minded, but in such a fully automated car, not hard to do.