I had the same problem in a Wrangler 4 door, much more comfortable in the Bronco, and head room wasn't even any concern in the front. I posted earlier about the fabric from the soft top resting on my head in the back seat while it was open, closed is fine.
Doors are thinner than standard SUV/Truck (still felt solid), was able to get some angle, and there wasn't any sharp edges to contend with for comfort, unless you throw a hard water bottle in the mesh, that would be a problem.
Both models I fit well, I could see hitting a few larger obstacles and possibly hitting the pillar, but who isn't gonna push it just a bit. Lucky for you you're the driver and will know its coming. Only yourself to blame. Ha!
Average shoulders here, didn't feel tight, but I can tell you I was more concerned about knee room as I have had a fair amount of trouble over the years.
Sitting in the back with the soft top open, I did hit my head on the loose fabric hanging down.
I'm 6' 7" and the largest concern I have had going through this purchase has been legroom "knee room", 43.1 specs on the 4 door and it was the same legroom on paper as my wife's Highlander... Now granted, I have taken that Highlander thousands of miles over the years, but it hasn't always been...