I'm about 1.86m (6'1" and a bit) and I once drove a Yaris and I don't remember it being too small. Someone who is 5'1" should be able to fit into the back seat of any car that isn't a 2+2 sports car (only enough legroom for a very small child in some of those). Or maybe the problem here isn't height...

Since I'm not exceptionally tall, I can't think of any cars, at least no modern cars, that are too small for me, although perhaps I might have found the old Mini a bit cramped. Apart from the very tall, the only people who seem to have a problem with small cars seem to be Americans...