Perhaps I'm not the best person to advise you as I am mostly self taught and really tall so I don't really have much problem with very low or high notes.
I suppose I'd suggest that it's perfectly okay to lean to some extent, though some suggest never leaning (I think this can create a lot more tension than it prevents in certain circumstances) and just reaching with your arm.
The simple solution is to just reposition the chair a bit when necessary for any given piece. I actually use an office chair with rollers and move and swivel as necessary, try it out, I've never preferred a bench to something that can swivel or be moved easily, it adds more ranges of motion and flexibility to your playing as well as being really cheap. You may think you'll feel unstable but I never do, I don't even think about it at all.
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