There are alot of variables, both with respect to your body measurements, bike geometry and your riding style. I ride 54cm-58cm, and I'm 5'11.5". Each of my bikes is dialed in for me. In my opinion, your reach is far more important than inseam length, assuming you can get the right KOPS position by adjusting the saddle position and height.

Generally, imho, track-type bike should be smaller because you'll be in the drops or up over the bars more often - and they are lighter and nimbler if smaller frames. Watch out for some frames with long top tubes, like 56cms with 57cm or longer top tubes. Unless you have have a naturally long reach or like a long stretch (French fit) they can be they a nightmare to get dialed in. And, switching stems maybe the cure for taming a long reach bike, but it also means your CoG (gravity) & steering position will be further back than what might be optimal for the bike.

Knowing what I know, if I had to choose between a frame a little small or little big..I'd probably go with a little small. I ride centuries on my 54cm with a 55.4cm top tube, very nice.