We tested the end-state comfort effect (ESCE) under varying reach extents (Experiment 1) and a balancing task (Experiment 2). We hypothesized that as reach extent increased, or when participants had to perform a simultaneous balancing task, sensitivity to end-state comfort would decrease. Participants were divided by height (taller or shorter than 160 cm) to understand the impact of reach extent. In Experiment 1, 86 participants grasped an overturned glass from a shelf, turned the glass upright, placed it on a counter, and then filled the glass with water. Shelf heights were 95, 145, and 168 cm above the floor. In Experiment 2, 82 participants climbed a stepstool, which posed a modest balance challenge, before grasping an overturned glass from a shelf 213.4 cm high. They then turned the glass upright and filled it with water. Three trials were performed. In each experiment, for individuals taller than 160 cm, a Cochran’s Q test revealed a majority used an awkward thumb-down grip to initially grasp the glass in all conditions. However, for participants shorter than 160 cm, sensitivity to end-state comfort decreased. This interaction suggests that the ESCE is influenced by both participant height and tasks requiring extreme reaches. Results are interpreted in context of a constraint hierarchy within a model of posture-based motion planning.