We have a PSC PH32 on our dock listed for brokerage, so I stepped out to the boat to verify. The v-berth is 6'6" or very close to it, so you should be fine at 6 feet tall. There is room to get in and out without bumping your head; I would say it's a pretty spacious and well designed v-berth cabin for a boat this size.
The raised cabin sole in the main salon does provide extra tankage as well as storage; as with any boat, some of the storage is more accessible, some less, but overall there is a good bit. There is also very good access to the engine and transmission under the cabin sole.
The anchor locker is divided - the access through the deck is through two hawseholes. There's not a locker lid, so you're not going to get as much water in there. It drains to thru-hulls below the waterline. There is access to the locker at the foot of the v-berth. The shower drain has its own pump and discharges overboard.
The port dinette table does convert to a berth.
The division between the cockpit and the cabin is managed with a removable teak cribboard. There's a minimal "bridge deck" of only a few inches, but the board locks in place between that and the bottom of the door, and has a rubber surround to prevent water intrusion from the cockpit when underway. With the board out, it's a very easy step down into the cabin. A picture's worth 1000 words.
Based on your comments, I do think this is a model that would be worth looking at. The pilothouse layout provides extra space and lots of light in the cabin that would be welcome for a liveaboard. Certainly well-built and offshore capable. I'd be glad to answer any other questions you may have.