I'm about 6'1" at my present age, some shrinkage has occurred. Proportionally a little longer in the leg.
I installed longer bolts for the two forward seat mounting bolts, then stacked some washers between the seat rails and the floorboard; this raised the front of the cushion, tilted the seatback backwards. Created headroom and leg room. My legs are bent rather than sticking straight-out. My thighs are supported by the seat cushion now, and my back is supported very well in the reclined position. The distance to the steering wheel is very natural. Thus revised I find the driving position is very comfortable. I can drive in that position for hours and arrive at my destination more relaxed than I do in many sedans. My biggest complaint being I wished the seat back was taller.
This mimics the originally intended driving position (see pic).