At 6'4" I put my left hand on the door sill then my right forearm on the center console and lift myself up out of the seat and then rotate my body to get both my feet out the door at the same time. Then I move my right hand to the steering wheel for any additional leverage should I be in a tight spot where the door can't open wide. I found this method puts the least amount of rub on the bolsters and least amount of foot banging into the door and kick panels.
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