Forward Facing Finally!!!

I am a big proponent of extended rear facing.  We took an advanced car seat class when Drew was born in the NICU.  We had to learn how to keep a 4 lb baby safe in his car seat!!  I remember them showing us the statistics and the research on keeping a baby rear facing until 30 lbs and 2 years old.  I was astounded at the facts.  At the time Evan had been forward facing for a year and he was just turning 2 and was about 27 lbs.  I vowed I would keep Drew rear facing as long as I possibly could.  My goal was at least 18 months.  But darn, where do you put their legs?  His little legs were so squished up, I could barely get him in his seat!  I asked his Pediatrician, and he said, you won't die from a broken leg, but you will from a head injury!  Well yeah, but if I can't fit him in his seat, then what?!!!  So I stuck with it for as long as I could, but this week I had to make the change.  He was fighting me every time we got in the car!  But now, oh my goodness, is he happy as a clam!  I am only driving about 2 miles an hour for fear we will get in an accident, but otherwise, it's great!!!  No really, I am fine with it. But I just worry I am doing the wrong thing, just like everything else in my life I second guess and feel guilty about!!  I think Motherhood is synonymous with Guilt!!!!