I successfully, dropped off the family this morning at terminal 2 with only one minor problem. I decided to drop them off in between the shuttle busses where drop-offs are allowed rather than risk the inner lanes closest to the terminal. Although it worked flawlessly, a bus blocked me off right as I was leaving because he was trying to angle in front of me to park there. I waited about 90 seconds and he moved on. There was no danger of hitting anything overhead and all lanes were plenty wide enough for my 65 foot length. All merges were easily executed and the reduced speed at the airport helped as well.
As someone mentioned in the comments, there are several signs warning that the maximum height for vehicles is 14 feet tall.
So yes, you can drop off people at Sky Harbor terminal 2 with no problems.
