I'm 6'0" and I've never had any issues. In fact, full extension is a little too far for me. But otherwise I dunno if there's anything you can do. I'd think you'd be used to not great legroom with a full-size truck, unless by truck you mean an expedition or something
At 6'2" with a 34" inseam, I just have the seat shot back, reclined with the armrest slightly tilted past level, and use the cushion adjustments to support the knees while my butt's on the floor. Pretty much the same arrangement in my truck, but the truck seat has more leg hang than extended.