I am 6'4" and both the 3rd and 4th gen 4Runners are hard to fit into. I of course don't have a sunroof. The sunroof robs a few inches of headroom and I need every inch. I still have to look down a little at a stop sign to see the light.
As mentioned the Highlander or Sequoia might be better. If you have not tried a 4Runner without a sunroof, you might try that, but is probably still too small.
You never know about cars, I tried a 2009 Subaru Forester and almost had to move the seat up and even with the sunroof, I had head room. I have also been in bigger cars and simply cannot fit into them. Buying cars for me is like buying shoes, I find what can fit, THEN I look at what I like.