I'm 6'3", 225 lbs, and just picked up a non-S with the base manual seats and the standard steering wheel. I drove 200+ miles today in two sessions, plus another 30 in short trips, and I feel fine, just tired from being up too long. My legs are fairly long for my height (vs. people with long torsos). I find that my legs can't straighten all the way, but are only a little bent (with the steering wheel toward me and up).

If you've gone for a test drive for an hour and have pain afterwards, that's not a good sign.

Do your legs push on anything? For me, they don't touch the steering wheel, and my right leg rests on the center console. Do you know what causes the pain?