You couldn't pay me to drive a MB....My neighbor has the ML350 about 1/2 the time. The other half he's in a loaner vehicle from the dealership. Was like that on his last one too but he swears by MB
The only other viable options I found were the Chevrolet Equinox and GMC Terrain, neither one was even remotely interesting to me. They did have more headroom though as you could get them without the moon-roof.
5'11"...don't even get me started
Probably can dunk better than I could to!