Hi Lucy, My husband and I have the same issue as you. My husband is 6ft 3ins. The beds tend to be the biggest problem as most of the time you are in the caravan you are sitting down. We have to sleep in separate beds as James has to sleep diagonally across it! We are looking to change but as our tow vehicle restricts us we have just bought a Land Rover so we have a better choice of van. Head height in most vans are fine until you meet with a light fitting, also showers can be a nightmare too, not the height but the width, my other half can't bring his arms up to wash his hair as the cubicles are not wide enough. I realise am being picky but if you are going to spend a lot of money on one you need it to be right. Lucy your best bet is to go and view lots of vans, get the beds out, try the shower, ask yourself questions like is there enough room to sit down on the loo when you are that tall, its amazing how many don't have the space! Good luck I am sure you will find something. As for the kids, if you feel they are old enough, put them in the awning, I loved it when I was young sleeping in the awning. Good luck.
Sass