I use the steering wheel. TBH it was nice having a working ESCL that would keep the steering wheel locked in place when I used it as support for getting in and out
But I just make sure to put my hand in a place on it that won't make it turn when I apply pressure.
Also, I'm a bigger guy at 6'1" 225+ lbs (closer to 240 right now), and it's virtually impossible for me not to rub the bolsters at least a little. It's also difficult for me to avoid smacking my size 12 boots on the lower panel and/or door panel when exiting the vehicle. I just treat those panels with Super VRT every so often and they still look practically new. My wife put a hole in the rubber seal with a stiletto heel back when she was driving it.