Two positions come to mind:

1. On the couch, man sitting on the couch, feet in front of the couch on the floor, woman on top. Something about having the support of the couch and the floor feels quite nice, can also feel like a good angle, ymmv.

2. Man standing, woman on the bed in doggy position. If you have a higher surface that's comfortable the woman can also lay on her back. Because the man is standing he can recruit more of this body => more force. Can be quite fun.

Honorable mention: man lying on bed, woman on top, but not in cowgirl. She lies on him flat, doesn't have to move and he fucks her hard from beneath. If the bed is hard enough you can develop quite some force here aswell. You get up your knees, feet driving into the mattress, legs slightly opened, think bow legs. Feeling the weight and close embrace of my partner while I'm really going at it, pretty good, I enjoy. Can feel quite intimate, can still be quite rough if you want it to be. I guess this is kind of like a reverse missionary? I'm not good with sex position nomenclature.

This position: https://lemmynsfw.com/post/33536925 with the lower leg of the woman going straight between the knees of the man. Its one of my favorite positions out there. A lot variation possible. If the angle doesnt work then put a big pillow under her hips. I have no idea if it fits for your bodies but I can see no reason why not

I guess you already tried prone bone? Nice position, not exhausting, not hurting the knees.

Other position (sorry I don't know the name): one kneels with legs spread over the chest of the other and gets oral sex, while leaning back to masturbate the other.

It works both ways: either the guy on top gets sucked off, or the girl on top gets licked.

That one Coital Alignment position where you are kind of scissoring and fucking at the same time feels good and is not effortful

https://en.wikipedia.org/wiki/Lateral_coital_position

I like doing it while spooning. Used to prefer doggy, but it's kinda hard on my knees both topping or bottoming, even if on a soft bed.

Get a good wedge pillow. It allows for fun positions without the physical exertion or discomfort