This is the main reason I don't "get" tablets. They're just more uncomfortable to use for me. You have to keep holding onto it and you get gorilla arm vs using a trackpad.
I currently use a MacBook (the 12" model) and it is close to perfect for casual sofa browsing. It has a decent enough keyboard, a perfect trackpad, good screen and while not a huge deal I still prefer macOS over iOS. Even when I use macOS in full screen model so it acts a lot like iOS I still find just having a mouse cursor much nicer to work with over a touch screen. I think this is mostly down to how awful the new oleophobic coating is on the new iPad's (Pro included). I can't stand seeing all those finger print smudges over the screen. Drives me up the wall!
I guess I am just too used to a laptop form factor and can't get past my own mental blocks?
At home my (coverless) iPad always sits on a 3rd party stand, so I simply put the stand on my lap. And maybe have a coffee in hand. And maybe a plate with a toast.