I am 5'-11" tall when bare foot, taller with my hiking shoes on. I weigh 180 lbs.
Regarding driving our 2007 PC2350 on an E350. The E-series, "Ford's" interior design is somewhat restricted to begin with, so you could sit in an E150 van to see how that feels. All PCs allow full travel of the driver seat base. In our case without a slide out, the dinette is set closer to the driver seat. Reclining is limited but is adequate for comfortable driving. PCs with a slide out behind the driver seat, offers more reclining because the slide out is set further rearward (roughly one foot) to clear the angled transition wall.
Here is our dinette and driver seat in it's near max-allowed reclining position. The seat is rearward as much as the power seat base allows. It is more than I require for comfortable driving. Actually I never set the seat base all the way back because my feet would not comfortably reach the pedals. This allows for extra reclining that I never utilize.

Regarding sleeping in our 2350 rear corner double bed. I sleep on the bathroom wall side. With my head to the head board, my feet do not over-hang, but I intentionally lay so that my feet do over-hang. I could sleep against the outside wall, but it would be tight for me. My wife Irene is 5'-2" and 120 lbs. Sleeping together is a snug fit but we don't mind. If she has to get up, we learned it is better if I get out to let her out. We do have a small TV mounted against the shirt closet which contributes for the need to do so. If this was a serious enough of a problem, I would remove the shirt closet. If we had model 2351 with the optional longer double bed, I think she could get out without disturbing me.
The shower is tight but works for me.
I have been blessed with hair on the top of my head. It is a bit poofy as seen in my profile pic on the side here. When I walk around with my shoes on, my hair barely touches low hanging items like light fixtures and a/c unit.