Swivel seats and seat lifts
Both of these brings the seat closer to you. The swivel seats by rotating the seat so that the front is pointing towards the door opening. This also makes the seat protrude a little over the sill of the car. Seat lifts bring the entire seat out of the car and lower it to the desired height on the outside. The transfer is completely unobstructed. Once in the seat you will be lifted into the car by the seat lift.
As a rule of thumb, swivel seats are suitable for low built cars such as sedans while seat lifts are more suitable for high built cars like SUVs. As with all adaptation solutions, what's best for you depends on your needs and abilities.