I’m a big guy with similar mobility problems, 6′ 5″ and 18st. Currently have a Seat Ateca, same build platform/car as the Tiguan and Karoq. The Kodiaq and Tarraco are the 7 seat versions and are about 4cm taller.
Very little problemwith getting in/out or ride comfort. The only problem is the 19″ Bridgestone tyres are useless in snow or very wet conditions. These are ony on the top spec version so anything under that come with the the 18″ which are fine. I have sat in a Mazda CX5, no real problems getting in/out, given past experience of the Qashqai I wouldn’t consider it suitable for me now.
Please excuse spelling/typos. Apart from being a clot it turns out I had one on my cerebellum that's now causing various problems!