I am not finding mine too light, but I am finding the angle uncomfortable (its a manual).
Like you, my right shin starts to ache.
I have messed about with the seat settings a lot, but no use.
I then noticed that some shoes are a lot worse than others. Some trainers are particularly bad (6 stripe Dsquared to be precise!). They are very rigid and the soles don't have much flex in them.
So I'm like a woman now....... Needing to decide what shoes to wear if it's going to be a long drive.
I've actually found exactly the same as you. I messed around for ages the other day, trying to find the perfect driving position and failed. The seating angle, as it's increased to get a better driving position, becomes uncomfortable for me. The way the adjusts are made on the seats IMO is very poor. I can jump in the wife's GTS and get comfortable in seconds, but not so in my S3. I still maintain the throttle pedal is far too easily depressed. I sat in a work colleagues mk2 S3 this morning and the throttle pedal in that is so much better than mine; he tried mine and immediately saw my point.
So, I can get my legs and feet where I want them, but then I find I get fatigue in my right calf as I can't balance my right foot on the pedal. I was finding I was constantly accelerating when I didn't want to and having to lift off or brake to compensate. Really annoying. However, lower the seat (not that it goes very low!) and change footwear - hey presto the problem almost goes away. Annoying, but fixable I suppose. Also, this is one of those things that does sit in the mind - the more you think about it, the more conscious of things you get. So, good or bad, I have adjusted everything as close to perfect as I can get it, made a note of all adjustments (so when the missis ****** around with it I can get change everything back) stopped driving in my meindl boots and will just get used to it. Must say, it's a surprise to me that the car is such a pain in this regard.