So I am 6'1" which I call average not tall, they guy above that is 6'5" he's tall, anyway I have the same inseam as you, so do the math I am 3" taller and it's all torso I also weigh about 200lbs, which I would also consider pretty average. I have zero trouble fitting into my 4 Runner, I have two seating positions one for highway cruising and one for off road they are both comfortable. I do have the 8... or is it 10 way power adjustable drivers seat with the lumbar thingy (love the lumbar thingy) but I have sat in the passenger seat for a one hour period on a rather long recent road trip which is not power adjustable, though also doesn't have pedals and a steering wheel. it was super comfortable. I will say that the seats aren't as comfortable as my Mercedes E classes were, but it would be sort of weird if they were. I think it may be you my man, or as you mentioned earlier perhaps your seat is not typical, seems most 4Runner owners don't have this issue. I hope you figure out a fix for an otherwise great vehicle. :welcome: