People try to make rocket science out of pedal height, but the truth is that there's no proven formula. We used to use higher saddles decades ago, but back then we were also ankling through the pedal stroke. Ankling is done less now and most ride with high cadence with little ankle movement. OTOH, the ankle can be set at a variety of positions, with each person being slightly different.

The differences in ankle angle make for different effective leg lengths. After 40+ years I've come to the conclusion, that if the seat is within the target range, riders unconsciously use ankle angle to dial it for their own pedaling motion, so any small "precision" adjustments are quickly compensated for and negated.