6'2" in an S3, and with practice have found I can get in reasonably quickly if (with the steering wheel removed and a little cover fitted over the splines as I always drag my leg on the greased part) I climb in with my left leg, put backside halfway up the rear of the seat then, holding myself in that position with the left leg, drag my right foot past the dashboard and into the footwell.
Still causes some mirth from onlookers but is at least over with in seconds.