Specifying comfortable driving postures is essential for ergonomic design and evaluation of a driver workspace. The present study sought to enhance and expand upon several existing recommendations for such postures. Participants (n=38) were involved in six driving sessions that differed by vehicle class (sedan and SUV), driving venue (laboratory-based and field) or seat (from vehicles ranked high and low by vehicle comfort). Sixteen joint angles were measured in preferred postures to more completely describe driving postures, as were corresponding perceptual responses. Driving postures were found to be bilaterally asymmetric and distinct between vehicle classes, venues, age groups and gender. A subset of preferred postural ranges was identified using a filtering mechanism that ensured desired levels of perceptual responses. Accurate ranges of joint angles for comfortable driving postures, and careful consideration of vehicle and driver factors, will facilitate ergonomic design and evaluation of a driver workspace, particularly when embedded in digital human models.