I'm almost 6'4". What I find with cars is that my right leg tends to touch the steering wheel sometimes, depending on the vehicle, especially when braking (since the pedal is to the left). Anyway, I've found that different shoes actually can make a difference. Ones that have a thicker sole make it more difficult than ones with a thinner one. I've found that I like to wear VANS, one reason being because of this.
Anyway, the RAV works pretty good for me--better than my last 2 or 3 vehicles. The telescoping wheel does help. Cars that JUST have a tilt column don't always work as well. Those with a tilt wheel work better, though the wheel doesn't always end up quite in the best position. I can actually get away with sliding the seat to the next-to-last position rather than the last one some. At the acr show, I found that I liked the manual adjustment better than the power seat, at least earlier on. Later on, I may have been able to get a better position with the power, but I do like the manual one myself.