When it works, the key seems to be relaxing the eyes and surrounding muscles while viewing objects at a distance which causes just enough blur. Within a minute or two, the brain's visual cortex figures out a "software compensation" for the signal coming from the eye, which lets the eye stay relaxed instead of straining to focus. More info on Vision Therapy is available from behavioral opthalmologists, but it takes time, motivation and may not be covered by insurance.
[1] https://youtube.com/user/cliffgnu
[2] https://drive.google.com/file/d/0B5REdzibAJQ4VFJuWnZCU3dLcHc...
[3] https://dspace.mit.edu/openaccess-disseminate/1721.1/105363
If you like soft focus, you can try on different drugstore reading glasses (e.g. +0.50) over your normal glasses, to find a reduced strength which lets you see at the desired distance without super-duper-sharp edges. Then ask your optometrist to provide you with a reduced prescription for non-driving or near work tasks. Otherwise, they will prescribe driving-strength glasses to avoid legal liability.
Easiest would be to find a friendly optometrist who will put your astigmatism prescription into a trial frame, then let you self-adjust the cylinder and axis values until you find your desired blend of clarity and softness at your target distance. They can also advise on the safety of using that prescription vs using no glasses.