I'm 6'3" and I started to feel the same way about trying to voyage in a small boat. However, boats do exist with headroom, if we look carefully enough. I recently shocked the wife by showing her an Out Island 33'. Compared to the Catalina 30, Sabre 28, Pearson 30 she's seen and been on, it was HUGE. So beamy, but I easily stood and moved around in the boat too -- first boat I've been on that I could stand freely in. Gives me hope for finding seaworthy boats that have that kind of headroom. I will note the Good Old boat list (Atom Voyages | Voyages Aboard the Sailboat Atom -* Good Old Boats List - choosing a* small voyaging sailboat
) does show a couple candidates for taller folks. Especially the Vancouver 27/28. He claims 6' 4" headroom.