I guess it depends on how proportionately tall you are. (long legs/short torso, short legs/long torso, you get the picture)
Here are the dimensions for the front seat of the 2011 Highlander:
Head Room: 40.6inches (39.7 w/Moon roof)
Leg Room: 43.2 inches
Shoulder Room: 58.7 inches
Hip Room: 56.7 inches
I work at a Toyota dealer and see tall (over 6ft) people get in and out of this vehicle with no problem. If you were talking about a RAV4 I'd say 90% chance you wouldn't fit.
If you have ever sat in a Chevy Traverse or Honda Pilot then that's about comparable space as to what you would have in the Highlander. If worse comes to worse and the Highlander isn't comfortable for you and you want to stick with the Toyota brand look into the 4Runner.
I work at a Toyota dealer and lo