I'm 6', 32 inseam. You probably have a slightly shorter torso, slightly longer legs, so raise the seat, next smaller frame size (by top tube).

For me, 58's (Trek 5200, Fuji Team Pro) were a bit stretched out, and the head tube a bit tall.

I'm on a 56 (Tarmac SWorks SL2 Team, Tarmac SWorks SL4) which fits well. 172.5 cranks.

I've flirted with 54 Tarmac (lower head tube, more drop, 1cm longer stem, 1cm farther back on the seat), and while they feel great and racy, I wasn't confident about how I'd feel about it on mile 75 to 100. I think the 56 is really good overall.

I wouldn't go larger, and the only reason I'd go smaller is for more drop on a racier fit, which would only really make sense if I went training crazy and was racing cat 1/2/3.

You are probably a good 56, with some stem and saddle tweaking to get it perfect. You may want to consider 175 cranks with your longer legs, but probably don't need to.