slightly under 6 foot, its highly unlikely a 58cm frame is too small for you, unless you have some seriously odd proportions.

Dial in you leg extension and position over the pedals by adjusting the seat height and fore aft positon of the saddle.

once that is dialed in, then adjust reach and drop by selecting the right length stem, and setting its height correctly.

You might need to swap out stems, but that bike should be relatively easy to make fit you.