As we aged, our preferred positions were: 1) me on my back, her with her hands on the headboard, squatting over my face facing the headboard and 2) her on her back, me on my knees at the foot of the bed. I sometimes put a pillow under her butt.
We moved more into long term relationships for her and her BF, so I'm not always with her when the fun takes place, especially if she's traveling with him. She might be in a hotel with him, or at his place, as well as with him in our bed. Sometimes she likes her afterglow with him without me in the room so no "cleanup" or seconds. "Cleanup" for me is more of a lovemaking activity anyway. We both love it when we do it.