I find sitting upright to be very fatiguing over long drives.
If that's the case then this sounds less like a Mazda thing and more an SUV thing in general.
From the sounds of it, my normal seating position isn't dissimilar to yours. I assume I'm shorter than you (at 5'8" I'm an inch below the average height of adult males in the US) so I probably sit naturally a little closer to the wheel, but I also like the wheel relatively close, and the seat base relatively tilted. Depending on the car I also like the backrest relatively upright, though I'll recline some backwards further as I find many cars lack padding below the normal lumbar area and an upright seat leaves me with no support to the very base of my spine.
However, that does change in SUVs. You're sitting at a higher angle above the pedals (pressing them down rather than pressing them in), so the driving position does have to change for it to really work, unless the manufacturer has deliberately made the driving environment more like that of a car, with more outstretched legs and a lower position in relation to the wheel and dashboard. More usually, it means having to have a flatter seat base to tilt you more towards the wheel and pedals.
My driving position isn't an issue in most rear-drive cars but I assume because of packing reasons most front-drive architectures are unbearably bad.
I'd say most front-drive cars these days in general are more similar to the Elantra you rate later on than what you describe here. I can't remember the last time I drove something truly bad - manufacturers do work a lot harder on that kind of thing these days.
Usually it's more detail stuff that lets particular cars down - not enough telescoping in the wheel like you describe, weird padding in certain seats. As a rule I'm less comfortable in German stuff because most German companies insist on really hard foam in their seats. That might work if you're 6'+ or weigh another 50lbs over what I do but I find non-German (or non-German owned) European companies, Japanese and Korean firms and American companies all do more comfortable seats with more padding.
In terms of Mazdas specifically, the ND MX-5 is really hit and miss for people. I know a lot of taller drivers have problems, though the facelift car with the telescoping wheel apparently reduces that slightly. I'm the perfect size physically for it, but I find my NA more comfortable over distance, because the ND trips up on the lack of lower-back support I mentioned above - the seats seem to have virtually zero padding low down the backrest. The lower cushion does at least tilt, but not quite enough for me either. Plus the one I ran for a year had leather seats so you slide all over them, which I hate.