another vote for the Yaris. some of the models mentioned are great cars in many ways but not within the OP's limitations I think.
I'm 6'1 220 and plenty of headroom and room in general in my little Yaris. Average 36.5 mpg with mixed driving, 40-43 on extended highway trips.
Handles like a go-cart, road hugging 106 hp go-cart!
And it was the cheapest car on the Toyota lot.