Which vehicle should I get?

Well, I'm 6'2" and I had two Tauruses, one after the other, a 1990 wagon and then a 1998 wagon, and I found the legroom as a driver to be just fine.

In your budget range, forget SUVs. They're all unsafe junk, and lose value like crazy.

You need to keep looking because just because a vehicle is large on the outside, that's not a guarantee that it's large on the inside.

I do have one recommendation for you, but you may have to hunt a bit more than usual.

I currently drive a 2009 Kia Rondo, which though it looks at bit crossover SUVish, it's built on a car platform. It has the most legroom in any car I've ever had, it's amazingly comfortable to drive and to sit in, the sightlines from the driver's seat are beyond excellent, and it gets good fuel economy, both highway and city.

Now, Kia reskinned it in 2013, and I prefer the 2007-2012 design, and one of that vintage should fall into your price range. Also, I've had this car for almost nine years now, and it has been very, very reliable and I've done many multi day very long haul drives in it, from Ottawa, Canada to Tampa FL, and out to Spokane, WA.

taurus has plenty of legroom. So your cramps were from something else.  Neither are great choices.  Look for Toyota, Honda or Mazda.

I am 6-6 and I was a low end car dealer for a dozen years. ONLY car I had an issue with was a Tempo where the seat was stuck in the UP position and it would not go back. Sold it to a short mexican guy.

Nearly all cars had enough leg room for me.  Do you know how to adjust the seat?

I looked up a 2008. Front Leg Room (in.): 41.3.

I have 36 inch legs. I guarantee you that your legs are a lot shorter than mine and not more than 41 inches.

Stay away from private sellers in internet sites.  Too many scammers.  And you have no protection if something goes wrong.  I personally would not buy any vehicle with more than 50,000 miles on it.