We are a family that typically drives with the driver's seat fully back and completely understand the aggravation of not seing out of the windshield because it starts too low.
Looking for a new to us 2nd car, we test drove a Fiat 500e. Wow. Tons of headroom. It;s the largest car inside for a small car that we have tried. DH with his bad back can get in and out. Tons of front seat room. BUT don't put grown teenagers in the back for more than 20 minutes, because no room, especially with the front seats pushed back. This is really a 2 person car for us, plus a third person to / from school.
Other cars that work for leg / torso room:
Jeep Grand cherokee
Toyota highlander (we have a 2006 and bought for full rear plus front leg room for very long drives 16 hr+)
Mazda 3 -- good room for driver, but you need to bend down a bit to get in, not great for DH's bad back, but very comfy once in.
We test drove a couple of subaru's and they are fine. and then a mercedes luxury car that was lovely but a ridiculous car for people that use gravel roads on longer drives...
oh, and many many cars do not fit me if they have a sunroof, but without a sunroof the extra 1.5" helps a lot. I am tall body and it is awkward to have to watch how I style my hair or I don't fit into many cars with sunroofs.