However you may choose to use the term colloquially, terminal velocity has a very specific meaning: you are no longer accelerating. The how or why is incidental. In every measured setting I am aware of, from model rocketry to the scientific literature, the orientation/configuration is noted in the results.
Given enough time, an unconscious body is likely to end up either a) straight vertical head down, b) flexed at the hips, supine; or c) a spinning tumbling. (Though “feet down, straight” may seem a plausible “minimum resistance” position, the force on the feet/legs would flex the knees, and the added resistance of flxed legs would pull them up into position B or (more likely?) C
[20,000 ft wouldn’t always be enough free-fall for to cancel out the tumble of an unconscious body, based on what I have seen, but A and B are two relatively stable positions that don’t freely interconvert, depending on one’s limb/torso proportions and weight distribution.]
Face down, limbs deliberately spread, is almost certainly not the best position at impact, but it is possibly the best position to decrease downward velocity, as evidenced by its widespread use by parachutists to maximize air time. More importantly, it offers a limited steerable glide for a larger radius of potential landing zones, and is a good position to observe the ground to select your landing site – in the second of clear vision you’ll get with ungoggled eyes facing into super-hurricane level “wind”. (I don’t know anyone who jumps without goggles)
Recreational vertical wind tunnels are springing up everywhere. We have one near me, and I’ve heard rumors of a second. Most have airspeed gauges, and could be valuable empirical resource for this class of perennial question, even allowing our ‘divers’ to assess terminal velocity and stable positions in street clothes.
Minimizing terminal velocity by body configuration seems to be the best initial step, and possibly the only one with a significant and consistent effect. Changing position before impact (e.g. to land in water “feet first” or as I was taught, legs flexed against the torso to land “soles and butt first”) seems likely to be useful, but would be hard to test definitively, and probably couldn’t have nearly the same magnitude of effect. On the plus side, you wouldn’t need superhuman reflexes – changing position a second or two before impact would be almost as good.
The OP did specifically ask how best to “hit the ground”, but that may be too late to do very much to maximize your survival, compared to the glide position.