Well, sounds like you bought too much truck for daily driving, but have the perfect truck for your towing needs..
I'm not retired (yet) so still need to do the daily grind.. I used my 13 F150 for that duty up until a year ago.. Gas prices just got too much, as it will "run fine" on regular, but really likes premium when you ask it to work..
Anyway, I miss driving the truck for sure! But, filling up the Escape compared to the F150 is so much nicer on the wallet!
I get what you are saying about parking! If I ever went into a parking garage with the F150, I would watch the antenna as my 'feeler' when going under those huge beams.. 7' garage was the minimum for me.. This is just with a stock 4x4 F150.. I have scraped the antenna a couple of times, but that means I still have about 2" left.
Parking lots, I always looked for multi open spaces so I could swing in easier, but still only take up a single space. I have the towing mirrors on the truck, so would have to fold them in most times, as they really stick out.. I call them the "Dumbo mirrors".. :)
But, it tows my TT very well and not maxed out at all. Give and take for sure.
I'm just spoiled with being able to have a truck and a daily driver..
Good luck! Mitch