I wouldn't worry too much about the size in either dimension. I've driven narrow, winding and tight and it just isn't a problem. A short test drive may have you anxious, but you quickly get used to it, and I mean in a day or two tops. Visibility is excellent, and electronic aides make it easier (I don't have the 360 cameras). You will stick out lengthwise in some shorter spots but 10cm isn't going to fix that, closer to 40cm as it's just an inch shy of 5m long.
I will admit that I've driven larger and wider on smaller streets, so I do have some prior experience which may have helped me adapt quickly to the ES.