The infant carrier is likely taking up a lot of room b/c it is a 45 degree angle. You can get a convertible seat and hav it reclined between 30-45 degrees. The recline doesn't have to be at that FULL recline for older children. As long as your child's head doesn't fall forward when sleeping in the seat, then that particular angle is perfect. I would head to a Babies R Us, Target, Walmart, etc and try seats in your vehicle. I do know that the Compass TruFit is being released and you can remove the headrest on it so it is shorter (doing it that way, though, you can only RF to 22lbs..if you put the headrest back ON it, it will RF to 33lbs)
DEFINITELY lean toward convertible seats that harness your child the longest. Those would be Britax Marathon/ Boulevard/ Decathlon, Evenflo Triumph Advance, Recaro Como or Signo, Sunshine Kids Radian 65 or 80, Compass TrueFit.
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DD 5y, 43#--Britax Regent and Apex 65
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