Typing Devices for the Physically Impaired

I'm interested in finding a device that lets the user type at a rate roughly comparable to a normal keyboard (ideally including coding with awkward symbols as well as English prose) but doesn't require sitting at a desk.

My personal medical woes prevent me from sitting for very long, especially in the typical arms-outstreched typing position, but I guess there are all sorts of reasons someone might have these restrictions.

I have tried: using a Bluetooth keyboard from a reclined position, a laptop on a floating bracket, voice input, using the swipe-type keyboard on my phone. These work in a pinch, but I bet there is a better solution.

One thing I imagine might work but haven't tried is something like the Twiddler 3. Certainly the Nintendo Switch controller is very comfortable for me to use, so anything in that format would be good.

I'd be very pleased to hear ideas about not-slow text entry without a traditional keyboard, and especially the experiences of coders working with limitations similar to my own.