Hello Rosalie,
 
I am replying on list as this may be helpful info for other people as well.  We do a good deal of road trips, and just recently purchased a Toyota Sienna minivan as well.  We looked at all of them and I found that this one was the best for me. 
 
Anyway, I recline most of the time when traveling, and do very little, if any, driving on the trips.  I try to put my feet up on the dashboard, as I get a good deal of swelling in my legs if I do not.  I've had 2 DVT's in my left leg and need to move my legs around.  I pump up and down quite a bit, so it's the easiest way to do so.  It's not the best since in an accident, you are blocking the airbag, but it's the best way to move them effectively.  I also sit in the center seats, which recline some as well, and put my legs up on the center console, and watch videos.  Moving positions helps me, the ability of moving my legs also is important.  Hubby likes that since I tend to fall asleep a lot and don't bug him while he drives, lol.
 
We always carry a cooler and snacks with us, but most fast food restaurants have decent facilities for disabled access.  You'll find that the turnpikes have good handicap access, as well as most of the rest stops that we've used do as well.  
 
If I can help with any questions you may have, feel free to ask.  Other than that, enjoy your trip and let us know how it went when you return.
 
Hugs to you,
 
Barbara A in Aburn, CA
 

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