I'm just over 6'1" and love the gaucho.
Yeah, If I went into boarding school perfect posture mode facing straight forward it might be a pain. But I too lean against the aft bulkhead where my fridge is. Or slouch. In fact I forgot about the curving until a passenger complained (I don't like it for long passenger rides for several reasons).
And you can turn the front seats around too.
But I like the gaucho best, with a counter and a window right in front. Makes the van seem much bigger in side.