Good looking Bronco, I'm 6-4 and always wanted a Jeep, would test drive one every couple years thinking they would redesign the leg room, the salesman just kept saying it's a Jeep thing, it's a jeep thing! Screw that!
Hey everyone needs to learn sometime right??? His might be an expensive lesson, never tell anyone how to spend their own hard earned money, there's no fun in that, LOL
If it fits you just go super slow and just watch the drivers mirror and put it within 3" of the door jamb, no need to even think about looking at the passenger mirror, you're over thinking it. Backing in or out will be a little tougher, putting tape down on the floor is toooo much margin for error.
It helps with the ride and most people never bring up the fact that you won't get has many flats because you don't pick up as many nails and sharp metal. We did the Shafer without airing down, most of it is an easy gravel road.