Heck, I'm only 5'8" with a 30" pants inseam, and I ride 23"/57-58cm bikes - Yes, 'the boys' would be in for a world of hurt if'n I was to come down flat-footed, but that has yet to be an issue in over 43 years of riding that size frame! I felt too cramped on 21"/53-54cm-frame bikes. Maybe I'd like a 22"/55-56cm, but that opportunity has never presented itself.
That said, all of my bikes are vintage diamond-frame steel frames. Maybe things have changed with new 'sizing'...