Daily Driver Roll Cage, comfort?

Swisswill has got it - high and tight. Consider a removable door bar section to make entry and exit easier. Obviously you miss out on the protection when they're out, but you might be willing to make that sacrifice for trips to the shops.

That said, I have mates who have daily driven their full-cage forest rally cars - you get used to backing in through the cage and slotting yourself in to the seat.