yer push pull as we brits sometimes call it is rubbish, its caused many police accidents in high speed driving and the hands cant keep up! its slow, it wastes your energy and if your hands dont move from one place on the wheel you ALWAYS know where the wheel is pointing
i find that in my CLASSIC mini i have to hold the wheel where in firure 6 your hand is but at the bottom not at the top as where the seat is and where the wheel is i cant reach the top of the wheel. but in my girlys civic type r i hold it similar to your fig 6 but a blit lower, but only due to the angle of the wheel and seating possition again
LFS tho is differnt tho, its a game and i find i like to cross my arms and feel like *coughs* tiff needel or someone similar! to be honest tho i feel its just personal preferance, and if you cant hold on without giving yourself cramp, try changing your setting maybe? lol