I'm running a 32t cassette and a 6700 rear derailleur (not 6701) on several different bikes, custom steel, production carbon and custom aluminum and all work well, the B-screw is run nearly all the way in. The 5700 rear deraileur has the same geometry as the 6700.

The correct way to check the clearance between the upper pulley and large cog is with the gears on the small ring and big cog (see pic) not the way you've shown. The correct chain length I've found is enough to allow you to just to be able to shift safely in the big/big combination which, according to your pics would mean a new chain or add enough links accordingly. I'm not a proponent of adding links.