This is almost exactly what I do. Keep my wrists in line with the forearms, such that they're angled relative to the keyboard. So the home keys aren't ASDF, it's more like QWEF and HUIO. (Although it's more like the home position is in the crevices between those and the keys just below.) I've always done this just naturally and have never had any problems with typing stress or fatigue in 40 years.