I get away with 10' ceilings in my garage but it is mainly for storage. Obviously, 12' would be better. It is tight with several inches to spare with each car but it works. Mine is heated and air conditioned with insulated walls and ceiling. It's the best I could do with an average residential 2 car garage (now 3).

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1963 Belvedere 440 Max Wedge Tribute
1970 Charger R/T S.E. 440 Six Pack
1970 Challenger R/T, 528 Hemi
1970 Charger 500 S.E. 440 4 BBL
1970 Plymouth Road Runner 383
1974 Chrysler New Yorker 440
1996 2500 RAM 488 V-10 4X4
2004 3500 Dually Cummins 4x4
2012 Challenger R/T Classic.