I'm 6'2 and I can comfortably sit behind the wheel with room for a passenger behind me. I don't even have my seat as far back as it can go. The passenger side would be the same, I must imagine!
That's one thing that VW totally nailed w/ the Taos, the overall interior room is amazing for a car w/ such a small footprint, and TBH the trunk/cargo area has decent room too!