The typical position seems to be that my elbows are just off the edge of the table/desk, my forearms just distal to my elbows rest on the edge of the table, and my wrists and hands are suspended slightly to be able to move freely to type. My forearms and wrists like to be straight, and I use keyboards without extending their rear legs so that they're as flat as possible. There's a slight angle between the table/floor and my forearms, sloping up from the edge of the table to a point just above the keyboard.
Thanks for replying! The ergonomics recommend not resting your forearms on the edge of the table, but as you say, everybody's anatomy is different; if it ain't broke, don't fix it.
In case anyone else comes into this comment section looking for ideas: the thing that helped me the most was adding soft pads to my chair armrests - I found that resting my elbows on the hard surface of the default armrests resulted in forearm pain.
