Interesting topic, I was JUST searching the internet to see if I could swap out seats (electric for manual) to correct my headroom issue.
I am 6' (but long-waisted) and DEFINITELY have a head-clearance & vision problem with my 2007 Lexus RX 400h.
Even with the seat lowered all the way down, I still must tilt the seat back ward to avoid brushing my head on headliner. The sunroof provides marginal relief, but not directly over my head (only if I tilt my head to the right).
The biggest challenge is at stop lights; I must lean forward to see when the light changes from Red to Green.
Yes, legroom is fine.