I have kind of a confession to make: 99.99% of my sitting over the years, I have been doing it in either 1/2 lotus, 1/4 lotus (the best I could manage to do kekkafuza (結跏趺坐)or seiza (正座). Recently, though, because of my swimming exercise and somewhat more healthy diet, I have been able to do 結跏趺坐 as full lotus. For the longest time I could not do it, and then one day I tried it, and I could do it. Amazing are the side effects of losing weight and being in shape.
And let me tell you: it makes a difference.
In addition, it seems to be remedying somewhat a bit of lower pain I'd had in my back.
Somebody on this Brad Warner post suggested this Tai Chi exercise might help. Maybe it will; it is quite a bit like swimming.
If you do 座禅 you should try to get your body slowly over time to be able to sit in this position, if at all possible.
Yoga poses such as Warner recommends here might help, too.
I think that an important aspect of Right Livelihood, whether you call it a "Gate of Zen" or not, is being in shape. You can sit full lotus. You can move furniture and over-packed luggage that previously required assistance. You can sleep at night. It seems to help with anger management.