All 3 of my kids just nap/napped upright. They seemed perfectly happy.
Am I lazy? With DC3 I did begin reclining the seat once - it woke her up, and she was incandescent with rage at finding herself reclining.
I've never reclined a car seat either - it has only recently come to my attention that some car seats recline!
(caveat: I did keep them in fully flat prams until they were 6 months old, I'm only talking about older babies/toddlers, not newborns).