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The NCF says that headrest is part of a whiplash reducing structure designed into the seat along with the way they spring the back supprt.
I don't know about sitting vertically anyhow. When I took my advanced drivers training at TAPG they said you move the base to properly position your legs and then tilt the seat to get your arms to the right position (hold them straight out and the wheel should hit your wrist). They stated that this is is considered the most ergonomically correct and safe driving position. I've been doing it for the last 10 years since the training and it has worked out great for me. Makes getting situated in rental cars and new cars a snap.
Considerign how much R$D Toyota has into crash safety, I am inclined to believe it.
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