Most people can comfortably sit on floor with simple crossed legs but it’s uncomfortable for me, largely due to tight hip external rotators and (IMHO to a lessor extent) adductors.

https://en.wikipedia.org/wiki/Anatomical_terms_of_motion explains External rotation is required in the lotus pose.

http://adaptiveyogaforms.com/2015/04/hip-series-external-hip-rotation/ doesn’t involve adductors.

Chair stretch is comfortable. Rest forearms on the shin and lean forward. Ensure knee and ankles aren’t under stress.

http://www.yogajournal.com/pose/reclining-bound-angle-pose/ is a simple comfortable, lying position

Pigeon pose might stretch the external rotators, though I feel my hip stretched instead.