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Well, i not as tall as you guys are but 6'1 is good enough. I have a lot of room and my friend who is 6'2 is in the passenger seat and he has plenty of room. You'll be fine.
I'm also a bit over 6'1 and plenty of head room, but even more importantly tons of leg room. I can't drive the car with the seat pushed as far back as it'll go.
i'm 6'7" and fit fine with the seat not even all the way back. If you search these boards there is a seat adjustment trick that takes about 10 minutes and gives you an extra few inches of headroom.