I have a2009 Toyota Matrix, and used to date a guy who was 6'6". He had both a fairly long torso and moderately long legs, and he could ride in it, but would have been cramped for a long road trip.
I dated another guy who was 6'5" and he drove the Matrix without any difficulty. I would guess his torso was a little shorter, with more of his height in his legs.
My current boyfriend is 6'3" (see a trend here?), all legs and a very short torso (seriously - I'm 5'6" and sitting down, we're the same height!) and he fits in the Matrix no problem. Someone can even still ride in the back seat behind him.
S0 - I guess what I am saying is, it may work, but a lot depends on the torso-to-leg ratio of the driver. So you just need to go out and sit in a bunch of cars.