My nineteen year old is a tad under 6 feet. He still sleeps in a twin when he is home from school (which isn't often). If he were uncomfortable I would have replaced it, but he wasn't. I know because I asked.
His room isn't very big. Once we have the time and finish some other repairs on the house, we will sell his furniture and redo the room to be more like a guest room with a full size bed.
We hate houseguests so a queen is unappealing.