They are different cars, indeed. The FEH is smaller, cheaper - but cheaper to maintain up too. And the Ford is just as dependable.
Now, why would you buy a bigger car if a smaller one completely satisfies your needs? Spend the money on something else, I say.
Interestingly enough I am 6'4" and and the driver seat offered me more legroom in the FEH... (Not to mention that the Highlander is borderline ugly...)