I have a similar boat to yours - a 2009 H36. And I agree, the helm seating is nearly hopeless - seated behind the pedestal you are blind. The bimini reduces in height to reach the dodger and the pedestal requires you to stand to see over it. That said, some things I've done:
1. Use the autopilot a lot, and buy/install an electronic remote so you can steer from anywhere on the boat. This is somewhat limited, as your course corrections will necessarily be small due to the controls, but very handy. I also consider this both a safety and comfort item. Safety as I can steer from wherever the best visibility is to see traffic and obstructions (my 135 genoa can cover a good bit of the forward view, even though its cut a little high), and comfort as its nice to be under the dodger when it gets really wet or windy and cold outside.
2. Buy a purpose made helm seat. I purchased a Bottomsiders Saddle Helm cushion from this site a few months ago when they auctioned off merchandise. I'm not sure, but I think Bottomsiders is out of business, but these guys make similar ones which will still require you to sit a little off to the side, but help a lot:
C Cushions - Custom cockpit cushions for boats
3. If your cockpit canvas is in multiple parts, like mine is, it may help to remove one or more while under sail in fair weather. I find that if I remove the stepdown canvas from the bimini to the dodger it provides much better visibility to me (5'6" tall) or any number of friends over 6' tall when standing at the helm hand steering. I also roll up my center window on my dodger to give me an unobstructed view in fair weather (it also improves airflow through the cockpit).
4. I find my instruments when hand steering are very handy and easy to see. Curious to know what your configuration is. Speed and depth are forward over the companionway on separate instruments in line of sight when looking forward, the autopilot and wind instrument angled up to me at my waist at the helm pod. The chartplotter angled up to me right at chest height when standing. I dislike where the engine "instruments" are located in the coaming to starboard as they can be blocked by seated passengers (and my Yanmar B panel has no temp or pressure gauge, just idiot lights and a tach - though I may upgrade this). But I shoo passengers aside there and they quickly learn. If you will be hand steering for any length of time its nice to have a standing pad (like those made for kitchens) to take the pressure off your feet. Boat shoes (or bare feet) aren't generally very supportive.