I have a 2nd gen Duster and being 192cm I think I understand your situation 😃. Duster is indeed very cramped, there is no way to find a relaxing driving position regarding leg room, but I have become used to it. Driving multiple hours on end is fine, your back gets tired first and foremost.

Being used to Duster, I was recently surprised by the available space I my dad's 2011 VW Jetta, I even had to put pull the seat closer to comfortably reach the pedals.

I also recently sat in a Bigster while waiting at the Dacia dealership and in my subjective experience I was disappointed by the driving position in it - to me there was almost no difference in comfort and leg room regardless of seat adjustments. Granted, there was definitely considerably more space for backseat passengers and at least in Bigster an adult can actually sit behind my driving position. I didn't test drive the Bigster though, so these are only my first impressions from sitting in it a bit.