Yeah, this is why I went with an RST and not an AT4 or TB. They AT4/TBs were just too big for me when I stood next to them. I'm 5'11", too, and coming from my 2007 LT CC, those lifted trucks just felt huge.
I think the AT4 hides it better, though, especially with the 20" wheel package. It doesn't look as "high" as the TB does from afar.
Also, I have an older garage, and the shark fin on my '19 RST with 20"s just barely fits in... so a TB/AT4 would have been left outside in the DFW hailstorms this spring, which I didn't want to suffer through.