Telescoping steering wheel

I've recently switched back to daily driving my 2001 and I find that if I slide the seat far enough forward to feel a comfortable distance from the steering wheel then my knees are bent and I feel cramped for leg room. Also do to my job and spending too many hours at a computer I frequently have neck problems that are aggravated by reaching out in front of me. I've considered trading for a 2011+ with an automatic but do to the baby on the way I'm hesitant to trade. Does anyone have experience adding telescoping steering from a 2011+ super duty?