I'm just over 5'10 and sat in the car this weekend. I would agree that you do sit quite low down and therefore cannot see the end of the car but I don't see this as being too much a problem (I've driven plenty of vehicles where the bonnet just drops down out of my view line and have never had problems). Whilst I didn't get a chance to play with the height of the seat, I don't think I'd be able to raise it up too much more without my head hitting the roof.
Without even tweaking the seats, I was impressed with the seeting position but, in all honesty, glad I ordered the front and back parking assist.
I'd be just too scare of bumping into something whilst getting used to the car's dimensions.