I've got to add my recomendation for a recumbent, too.
I have one, and put some reasonable mileage on it. (goal this year 3000 miles) When I ride 'bent, my upper back and shoulders are much straighter and more relaxed than when I'm on on my upright. In fact, I'm much like you seem to be, I want to sit up and look around - which is kind of a no-no on uprights.
As for steering one-fingered, your hand position on a 'bent is ergo enough that your hands are where they want to be, anyway. No need to remove your hands. Some 'bents even have your hands down by your sides. Mine are kind of forward, resting on the bars. (Think Dennis Hopper in Easy Rider, close enough) It's a rare 'bent that lets you ride no-handed, but you really don't want to.
So yes, check out recumbents. You sound like someone who would enjoy them.
Give big space to the festive dog that make sport in the roadway. Avoid entanglement with your wheel spoke.
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1978 Raleigh Gran Prix
2003 EZ Sport AX