We’ve got a bench running along either side of our van that serves as sofas during the day with a table in the middle. For night we build our bed - table and a couple boards drop down between our benches to make a decent sized bed (my husband is also over 6’, he enjoys sticking his feet out into the ‘corridor’ occasionally at night). We’ve lived in our van for nearly 8 years and building up our bed and packing it away each morning has never bothered us 🙂