Not sure what you mean by “most of your driving life”? You want the car to last 40+ years?
In any car, you must learn to judge the location of your extremities and drive accordingly, and a careless small car driver will have almost as many dings as a careless large car driver. So it makes no sense to claim you are any less suited to a large car than a small.
Pick a car that you feel comfortable in, that suits your size and driving style, and that suits your lifestyle. (If you want to drive friends around then a bigger car is better.)
If you want to go with a smaller car, make sure it is from a quality maker (ie not a Daewoo) has DSC, multiple airbags, etc.
As an alternative to a Falcon, you might want to consider a Mondeo, good size without the power.
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