“I normally meditate in an easy cross-legged position.
Somewhere between 5-10 minutes in, my legs usually start to go numb.
Also, keeping my back straight is a pain.
I often lean against the wall, but I would like not to have to do that.
Any advice as to how to avoid numbness and keep proper form?”
Try different positions to meditate.
Sitting cross legged isn’t necessary for meditation.
You can try meditating sitting upright on a chair or if you have a reclining chair give that a go.
Many people meditate lying down as this allows you to fully relax your whole body and deepens your meditation.
You can try meditating lying on your bed or on the floor with a pillow or cushion for head support.
Find which position works for you and you will feel comfortable when meditating.
Edwin Leo 