Your saddle height is adjusted to your inseam, tingly hands has nothing to do with saddle height but instead other variables of fit. For initial saddle hight use the Lemond Formula which is .883XPBH (pubic bone height, bare stocking feet).
You are about my same size, inseam. I ride a bike that has a 56cm effective top tube, center to center. You might prefer a 57cm or even a 58cm as you are borderline and perhaps a skosh taller than me. I ride as big as a 58 for as small as a 55.