PLEASE HELP Big Family, Big Trailer, Large SUV Tow

You will be 'a few pounds' over with anything that is going to be close to having 4 beds, least as far as I have ever seen. If you cannot take a hybrid then you are going to be many pounds over. Again I would not obsess about a *few* pounds.
I'm 6'5" - I was through a Roo at a show this winter and I don't recall any problem with the headroom, there may be spots that is not true. There was one other I really wish I could recall the name of, I'll have a look see in a few minutes.