So coming from someone that has suffered with being 6'6" throughout my driving years (coming up on a decade this year), with the seat pushed all the way back in a car my knees would always come up near the middle of the steering wheel, so I picked up the habit of driving with my legs.
A few years back I finally purchased my first SUV (92 Jeep Cherokee), which was MUCH more comforable than having to carefully slide my right leg under the steering wheel and watch my head getting out of a car. I had to trade it in early this year due to increasing mechanical problems, and now I have a 2002 Dodge Durango, a great SUV with TONS of head and leg room.
My wife on the other hand has a 2005 Ford Focus, and I can hardly stand being a passenger in it, let along driving (since my almost 2 year old son, who is OVER 3 feet already, sits behind the drivers seat).