I've got your inseam and a bit more, though I'm shorter. I have ape arms, too.

My feet are a bit smaller, and I've had to adjust my panniers on my tourer to avoid heel strike.

I got lucky and found my Trek 720 in a thrift store cheap (75$) and bought it to keep fixie kids from hacking everything off it. Turns out there was a really nice bike under the dirt (it looked like it had been stored in a mudpuddle for several years). The 720 and the Miyata and the Specialized Expedition have internet followings, but there were a number of nice Japanese tourers that lack the cachet of those three. I've had both Shoguns and Panasonics in my grubby hands over the years, and both were fine but eventually sold. I recommend searching for some of the less known brands; some of them made really nice tourers.

I find my 720 tracks beautifully both unloaded and under load, but turns like a truck compared to a more nimble ride (say, my Eisentruat). Upright and an easy ride as well.