I had grown to love the position you talked about, but my body would never allow me to be in that position for long enough.
We had two different types of queening chair/stool made by a French wood artisan engineer. They are strong, well designed and very comfortable with support for both my body and head and my husband's. It means now that the only thing that stops him licking is him tiring out his tongue, and he's working on his stamina to improve that.