I'm 6', and I don't have any issues with the comfort/fit of the driver's seat, head room, or leg room. I sit far back, so the rear passenger room is sacrificed for sure. The dead pedal doesn't bother me at all. My Toyota 4Runner had a more comfortable seat overall; I would describe the Santa Cruz seat as firm like was in my Porsche Macan (and not uncomfortable...just firm). I do not like that the lumbar support does not go up and down, but, for me, that is a feature I rarely use. My legs are long, and several of my last cars have had extendable seat bolsters for more support. The Santa Cruz does not have this, but I do not find that I'm missing that feature, either.
The height of the seat surprised me at first -- I initially preferred the seat high, but the rear view mirror would not adjust that high (probably harkening back to the 4Runner with a very high seating position). I did not have any trouble adjusting to a slightly lower seating position, though, in the end.
Hope this helps a tad - all boils down to personal preference for sure! Good luck on your test drives!