I'm 6'8" with a 36" inseam and have a Ford EB. I don't have any problem driving it for several hours, though the passenger seat is a bit more cramped. My layout is custom with basically a queen size bed in back. It sleeps fine. My Voyager top is a little low for me, a little hot in warm weather, but nice to always have up for quick stops. A pop top would give you more room for standing and be maybe a little cooler in the desert. By the sound of other people on the forum, the furnace works equally well to keep you warm in cold weather regardless of top.
If most of your trips are a few hours or less and you want 4wd capability, a Ford is your best bet. And like you said, as tall as you are, not much ever fits perfectly anyway...