I think something like a Marin Muirwoods 29er will suit you well. The call it an urban bike, but it's basically a mountain bike with a rigid fork and you can fit 50mm super cushy tires for city rides or knobbies for trails. The included 42mm tires do a good job of smoothing out torn up roads though.
For your height, you probably want either the 20.5 or 22 inch frame.