My current car is an '07 Yaris. It's totally bare bones, but everyone who has been in it comments on how spacious the interior is.
I've always driven small cars, because they're economical and I've never needed anything larger. I hate that small hatchbacks are so scarce in the US and that our roads are overrun with ludicrously huge pickups and SUVs. We transitioned from land yachts to small cars in the late 1970's and 1980's, we could do it again with the right incentives.