I'm 6'3", and I bought a 2006 Xterra, manual 'Off Road' (same rear locker as the Pro4x setup). It was a 'compromise' purchase at the time, didn't really 'love' the aesthetics, but it turned out to be one of the best vehicles I've ever had for moderate off roading, camping, trailer towing, etc. I've owned it for a decade. It's covered 160k miles and lived up to all the ads, and it has been quite reliable and great overall. The Rockford stereo system is quite good (with the head unit upgraded), and you can fold the rear seats flat and the front seats forward, throw in a couple of Rubbermaid tubs that perfectly extend the absolutely flat load floor for sleeping.
If you want a pickup rather than an SUV, for the price, I don't think you could hope to beat the Frontier or the Xterra. I really like the ZR2 Canyon too, especially with the diesel, but more tall people should really check out the Frontier and Xterra. I'm a pretty picky car guy, at almost 50 years old, and I really can't see a reason not to choose one, especially if you prefer manual transmissions (which sadly aren't offered in the new one).
It's also quite nice to drive longer distances, and you can even fit it with the heated steering wheel from the older gen Pathfinder (of the same platform) if you like (and heated seats and leather are available on the newer years of the last gen). Throw an OME suspension on it and off you go. It's also pretty cheap and easy to work on yourself.
