My son is 6'6" with most of his height in his legs - he comfortably drives a Skoda Octavia estate - before that he had a Vauxhall Vectra-C estate and a Vauxhall Astra-G with no issues - even earlier he drove SWMBO's Vauxhall Nova but that was knees up round the steering wheel.

I could have posted this!

I'm 6'3 at a bit with a 35.5 inside leg. I had a Yaris but when I turned 43 a couple of years ago suffered hip and knee problems when I went from using it as a runaround to having to do longer journeys. I did loads of research as the best drivers seat in the world, that of a Saab, went pop thanks to GM. I owned a 9-3 for three years and still miss that seat, not so much other aspects of the car...

The best seat I found for my "work car" was a Volvo V40 in R Design trim, I leased a 2016 facelift T2 for four years and it's doing me very nicely. My six year old can just sit behind me when I drive but no bigger than him. We have a Zafira as the family bus which has a terrible driver's seat. Surprisingly Kia were next, the Ceed seat being very decent in some trims. Leon seats bottomed out, an Avensis didn't get the steering wheel close enough to me (I had to lean forward or loose leg space) while other V40 size cars just didn't have seats that went far enough back.