For proper 'car control', your arms should be slightly bent, turning the wheel should be comfortable & easy , with your hand at 12 o'clock position, ..turning.....
But..... 'old school' steering wheel use, is now different ( air bag)....
Turning left / pull down with left hand - follow 'up' with right hand.
NEVER CROSS ARMS turning.......
NEVER 'underhand' your grip NEVER....( you could break your wrist)....
An airbag deploys at as little as 13 mph, ... if your hand is in front of the airbag, the bag explodes at about 250mph.... your hand / fingers become a weapon into your face.