this is a very tough issue

i have never and don't think i will ever, hear a car that images as well as a home system (or as well as the original recording). i just don't think it can be done in the confines of a cars cabin with the listeners jammed to the outside of the stage.
however the high end SQ cars that do image well use a whole host of trickery and cheating to get close to ideal imaging. i won't go into all of them in detail, but its important to realise from the outset that a car just won't image like a home system - virtually every car i've ever listened to exhibited listener-side bias (the tendancy you mentioned for sonic images to be cramped towards your end of the stage). even time alignment doesn't totally get around it, its a band-aid solution like all attempts to get correct imaging.
ideally you want centre images to appear to originate from the centre of the dash (ie where your CD player goes), with left and right images originating from the corners of the dash. this is very difficult, and when it does manage to be achieved, what inevitably occurs is that you lose volume, dynamics, body, frequency extenion and image definition in one of (usually the nearside) channels.
oh, and for the record kickpanel mounting doesn't totally get around the problem either (according to my ears anyway), it makes it alot better than factory locations, but listener-side bias still occurs. time alignment works ok when you only play centre-stage information, but when the whole stage comes alive with music, images get a little blurry, the stage width shifts to one side - and you make it much worse for the other passenger.
i could go on and on about how hard it is to get a car to image well, but the take-home message is do NOT expect your car or any car to image like that home stereo you experienced - just ain't gonna happen

instead, accept that you will get close but it will always be inaccurate and biased and somewhat diffuse, and look into the standard band-aid solutions around it:
- low and forward speaker mounting (doors/kicks)
- pods angling the speakers on-axis with opposite passenger
- keeping tweets and mid close together
- using a centre channel speaker/processor
- time alignment
- stereo 1/3 octave equalisation
- ambient drivers/tweeters
- moving the seating position as far back as possible
when you pull it together well, you will be rewarded with a dash that comes to life, with vocalists, musicians and each instrument distinctly seperate, with the whole stage detached from the physical speakers, and each image being _roughly_ where it might be on the original stage. it wont be perfect, but it will certainly be engaging and thrilling to listen to!
and in the end that's all that matters

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Custom SQ System
Source: Clarion DRX-9675z - Front Stage: Boston Acoustics Pro 6.5's - Centre Channel: Boston Acoustics FS50 Midrange - Ambient Satellites: Boston Acoustics 3/4" Kortec Tweeters - Processors: Audiocontrol EQT's - Subwoofers: Earthquake BR12's - Amplifiers: Kicker IX404's - Power: Stinger 1 Farad HPM CapacitorSounding sweet and taking it to the street