Or do what I do, set the driver profile so that when you park the car, the seat reclines back and the seat lowers, as well as steering wheel moves up. Makes it super easy to get out and not rub anything. Then when you get back in, press the brake pedal and the seat and steering wheel move back to driving position, and your off driving.
My Audi A8 does this so when I figured out how to mimic that in the MS, I was super happy! No more bolster or seat wear!