I am the same size, 5'11, 32" inseam. This is pretty average male size and any commonly available crank will be OK, 170/172.5/175. These are only small increments that have small effects on pedalling style. I prefer to pedal rapidly so I prefer 170mm. I have a bike with 175 but use it for short range utility riding.
For very short or tall riders , all of these common sizes are wrong.