Way back when, when I got my 1st minivan, I was gonna drive from chair. Went in for the fitting and it turned out my footrest is set too low to clear the Ezlock box on the floor. Could pop over it to get in, but getting out wouldn't work, can't pop when you're locked into the bracket and no room to do it anyway. Then I held the 10lb bracket they attach to chair for it and that settled it, no way. Been xferring to driver seat since. And was always a little worried about no head restraint in your chair.
Not sure what I'll do down the road if/when xferring becomes too much; power chair by then?