I'm close to your height, and I feel best on a 58 road bike. So far, anyway. I can ride a 60 with a shorter stem, and a 56 with a longer one. Getting more specific, I prefer Campy and Sram on shorter bikes because of how my hands fit on their shifter hoods, and Shimano's fine on longer bikes.

And, as usual, the seat tube measurement has become one of the most worthless measurements on any bike ever since the first frame with a sloping top tube was built (not counting women's and mixte frames).