I'm not sure that my riding position qualifies as "upright" as being discussed in this thread but all of my bikes end up with the handlebars 7-8cm higher than my saddle and I consider my position to be upright. After years of discomfort, no matter what I tried, I accidently discovered that my reach to the bar has to be much longer than I thought. I'm 5'11" and I'm riding a bike with a 61cm ETT, a 17 degree 110mm stem and that is the only combo that has given me any kind of comfort. All of my rides are short but I experienced pain almost immediately with a shorter reach.
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