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My wife drives (and loves) her 07 IS 250, but the car is physically too small for me. I can hardly get in the door, although once I"m in I'm not uncomfortable, but the top of the windshield is about even with my eyes and my hair (what little I have) brushes the ceiling. Are any of the later models bigger inside?
The new IS for model year 2014 is only slightly bigger. If you're looking for sporty, then what he said, the GS350. The ES350 is the next up but is basically a Camry and front wheel drive.
Did you adjust the seat all the way down? I'm 6 feet and whenever my wife uses the car I can't even get in until I move the seat all the way back and then move it down as well.
If you want to stick with the IS line, try the 3IS. It has more room.
If you don't care but still want RWD or AWD, try the GS. It has a lot more room.
If you don't care at all about drivetrains, the ES has more room (especially in the rear) than a 2IS.