Some cars were not designed for certain people. At only 6’0”, I cannot fit into older Miatas, or the back seats of many compact cars, at least not comfortably. As you are considerably taller than me, your choices in cars are even more restrictive.
It is possible that you could get the vehicle converted by a reputable company that modifies vehicles for handicapped access and have the work done at a reasonable price, but I don’t think a SMART car has enough room for that. And designing a car from the ground up; a proposition expensive enough that even multi-billion-dollar corporations balk at.
So the most cost-effective option is to have a car modified by a reputable company. It’s not something you want to do yourself if you ever plan to pass any safety inspections or survive an accident unless you already know enough about cars and welding that you wouldn’t be asking this question. Moving the pedals is easy, but modifying the seat mounts in a way that won’t break off and send you flying on impact is trickier than you’d think.
Also, the auto-parking systems have been around for 10 years, and there are reasons that they are not more common. Most notably, the only one that really works in in a Lexus; a high-end car. The touchscreen tomfoolery involved in getting it to work correctly is about as hard as actually parking the car yourself as well.