I'm about your size (5'10", 30.5" inseam). I mostly ride 175mm cranks. I did switch one bike from 172.5 to 175 (when I needed a new crank, not just because, and I got the longer crank to match my other bikes). I did not change my saddle height.
I didn't notice any difference, except when I looked at my cadence numbers. On the bike computer, with the longer crank arms my cadence was lower by 3-5 rpm from what I expected from the "feel" of my pedal stroke. So, for me, the difference was measurable but not perceptible.