My eldest son used to do this too... so I would just have the seatbelts as tight as possible, and adjust them to get him in and out... it only took a few minutes more but was definitely worth it.
From my understanding, if there were in an accident, they would cut the belts on the car seat to get the baby/child out, so don't worry too much about the wrap thing being on the belts.
I work with children with intellectual disabilities (in no way am I comparing your DD to to a child with a disability but there are more safety related resourses available for such children, which is why I mention it) and am sure that there are harnesses available that have a panel across the chest so that there is no way they can escape. Do you want me to find out where they can be found?
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