I am 5'9" with a 32" inseam, according to the lbs, im all legs, and they almost wanted me to get a 56. i chose the 54 due to price(new 2010 vs new 2011), and havent looked back. although my seat is really high looking, its just above the handlebars like everyone elses here. while i cant tell you to rule out the 54 or the 58, i think the 56 will fit you best since youre slightly taller with slightly taller legs too.

im no expert, so get a comfy bike, get it fitted, and ride!