I am 5'10", inseam 31/32" I am a little longer in the torso. My bikes include Trek Domane at 54cm, Giant Defy Advanced at 56cm, Trek fx7.3 at 17.5 inches

trek fx is a bit small, 19 inches would have been better, but that was my first bike i bought and I was too cautious regarding stand over height.

Trek Domane 54cm fit better than a 56cm when I bought it.

Giant 56cm bike I like a lot as i can stretch out to the handlebars farther than the Domane. Its a more comfortable riding bike, but that isn't to say or imply the Domane is uncomfortable.