As hard as it is to coordinate anything more elaborate than a quickie for us, I have to acknowledge that what I was talking about with shoes was great for giving my wife a reacharound.
I put on her shoes after I gave her an orgasm from oral, and we went over to a big chair for her to hold onto while I took her from behind while standing. She put one leg up on the chair and I could easily reach and stroke her dripping wet pulsating parts.
Really, no other position is close to the ergonomics of that.