I was a chronic gearshift rester myself, so I had my doubts about these issues. I've become comfortable though with resting my hand in the bottom right section of the steering wheel and using that to steer, with my left arm .. well I'm not quite sure what my left arm has been doing all this time, but the arm rests are comfortable enough for that to me.
I don't feel as gnarly as I would with my left hand at 12 o'clock and my right hand resting on the shifter, but it works.
I don't feel as gnarly as I would with my left hand at 12 o'clock and my right hand resting on the shifter, but it works.