Then there are the sitting positions like face-to-face, yab-yum, and sidesaddle.
This is like the reverse cowgirl variant above, only using actual furniture.
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Give missionary a twist with the position known as splitting bamboo.
In yab-yum, your partner sits cross-legged, with you in their lap facing them and your legs wrapped around the small of their back.
You could also try scissoring, wherein your bodies essentially make an X that positions the genitals together at a completely different angle and might provide more depth.