About 6'2" myself, and have figured if I move the seat all the way down, tilted very far back, with wheel all the way out I can just barely reach the steering wheel without rubbing my head too badly.
My problem is I've got fine hair, and it rubs on that fabric from the roof. Every time I get out of the car, my hair stands on end, in a straight white boy afro. I've adopted a driving hat to combat the problem though I end up with hat head in that case.
Serious F'up on the part of those toyota engineers. Fit better in my smaller honda prelude...