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Have you considered pillows or some other support under you?
There are wedges you can get that are firm enough to support you, but soft enough to be comfy, to help with getting into positions.
Something like that could help you?
Doggy it, i think, the most flexible position there is.
If you knees get tired try lowering your butt maybe even so far that your feet touch your butt. He can reposition himself or get on a lower place (you in bed, him Infront if the bed). It allowed even deeper penetration and takes a load of your back since your torso will be on your knees.
You can also try prone bone. You are compleatly on your stomach and he is on you while also in his stomach. Super relaxing for me and him.
Work out to increase your stamina!
In this way you can transfer the weight of your body from the knees to your arm/chest, maybe is more comfortable:
https://sexinfo101.com/positions/doggystyle/facedown-doggy