https://danbooru.donmai.us/wiki_pages/missionary "a male-superior (man on top) sex position in which a woman or man lies on her or his back and the partners face each other"
https://en.wikipedia.org/wiki/Missionary_position "a woman lies on her back and a man lies on top of her while they face each other"
https://vndb.org/i93 "the receiving partner lies on their back with their legs apart, while the penetrating partner lies, (or supports themselves) on top."
It seems like the aspect missing in our criteria is the "on top" part, making it apply to a much wider variety of things than the way VNDB and Wikipedia define missionary.
Case in point, if the man isn't "on top" we could call it butterfly position
https://vndb.org/i1699 "any position in which the receiving partner lies down, face up, while the penetrating partner kneels, squats or stands in front of them with their torso mostly upright"
Of course things are rarely as black-and-white as parallel or perpendicular, so where there's in-between we could name it as whichever it is closest to, or both if it's too gray to tell.
A lot of work would need to be done reclassifying missionary tags into butterfly position if this was agreed on though. Thoughts?