I'm 5' 10 3/4", 33.75 inseam, measured barefoot to floor.
I'm also more adapted to the '90s' position of more down, forward and stretched...
I find all the new bikes way too upright for me, high bars, too tight in.
Have tried to go 18" frame - way too short
Now have one 19 and one 19.5 (LG - one is Spec Epic Comp, other is older KHS Pro) - much better - not just in leg extension, but also longer toptube length. could have easily gone with a 20"...
TTs measure 60.5 to 61.5 cm, and I'm using 120mm & 130mm stems, 'flipped' - makes a huge difference climbin steeper stuff. Feels fine ridin on flat and descents. On steeper descents feels great to hang off the back of the seat with these rigs.
I don;t look for serious hucks or drops, just the occasional 'OH ****!" moments one normally happens upon... I break too easily these daze.