Try the PleasureWay Ontour 2.2. It's built on the Ford Transit chassis. It has 6'6" headroom, good driver's side legroom, and has a 79' bed, only one inch shorter than a standard queen bed. Further, the bath is relatively spacious, whether being used as a shower or otherwise. The 2.0 is 2 feet shorter and $6k less expensive, but the bed is 2 inches shorter, and the bath is considerably smaller, lacking any sink or any storage, as well as having a much smaller fridge, less overall storage, and less solar panels due to less roof space. The 2021 versions are on the improved 2020 Transit chassis, and critically have a revised dash with markedly greater space for the driver to access the coach from the driver's seat; the earlier models are extremely tight for the legs, and have no driver's seat swivel, either.
The 2021 Coachmen Beyond series may also be worth a look. They are also on the new Transit chassis. The bath is much smaller, which could be an issue, but there is more space behind the driver, allowing more of a lounge space and feel when the seats are swiveled. The beds are also shorter, and much less padding than the PleasureWays, but they do offer more current tech and better 4 season capability, as well as an even bigger two door compressor fridge with relatively large bottom freezer. They only have a one year warranty, however, compared to the FIVE YEAR (though non-transferable) warranty of the PleasureWay.
Embassy RV also builds on the Transit chassis, with a lot of unique features. However, I have not found any measurements on their beds, except the Traveler Sport model where the bed is only 76" long. Any models they are building now would also be on the new chassis.
All Promaster based rigs will be limited to about 6'2" headroom and shorter beds, except the Travato G, but NO Promaster has adequate legroom for tall drivers. The Sprinter based coaches will accommodate taller drivers, and many have long enough beds, but are usually limited to 6'2" headroom, and being relatively narrow, can have very tight baths. The PleasureWay Plateau TS has a decent combination of bath space and a 76" bed, but it might be tight for the driver. The FL has a spacious driver's seat and lounge, but the bath is extremely small, and all Sprinters are limited in headroom unless it's a custom build on the extra-tall chassis.
Overall, the OnTour 2.2 should be the best fit for taller drivers/occupants. Good luck.