With practice, you will find a need for an aligned stance, neutral to closed, so you body can move forwards thru the shot. Adjustment sideways is about experience with that particular kick out to the side, bent arm technique, and watching the ball.
If the ball bounces well over your head, consider moving forwards, or switching to a pure volley motion to return the serve. Volley hard and down!
You an stand well back, but that allows the action of the twist to take you out of court position, so you would need to hit a return like Rafa to stay in the point.