Hi,
I'm your height mororless with a 28" inseam for trousers not bikes,
(28" for bikes and 5'8" is seriously long torso short leg territory)
and cannot understand the tiny frame sizes you are quoting.
Bike size is fundamentally relate to height, not leg length, your
a classic case in point, going on leg length most bikes would
be far too cramped front to back, but i don't understand your
"soft parts" issues and what that has to with proper bike size.
rgds, sreten.
Good cycling shorts keep your bits out of the way.