Did you ride any of them? I am a tweener (56-58), but prefer the 56 (I am 6'1"). Stem length/rise, bar reach/drop can change your fit, among other variables. Start off on the 54 on a test ride and take into account the measurements of the bar reach and stem, then try the 56 and see how it feels. 58 would seem big to me, let alone 5'10"-ish.