Hello and welcome @Justinlov69 
There are lots of positions in the Positions of the Week topic you could browse through, and see if any of those feel like they could be a better fit?
Position enhancers like the Liberator wedges can help lift things up for better angles (or you could try firm pillows as a workaround to try before you buy). There’s also things like the sex chair, where she’d be on top but you’d be in full control of thrusting.
You can also get couples toys that can be worn during that can add a little boost. The We-Vibe Chorus has been a favourite of ours (though quite pricey). You slip that in, and then slip yourself in too. 
There are penis pumps too, but results vary. And cock rings can help you stay harder, though I don’t think they make you any longer (in my experience). The extra firmness may help though?
We use a variety of clit toys during as well, which I think helps.