Being 5'10" and having a 34" inseam, means your torso is medium to short. So, a 54cm may be a better fit.
One must remember top tube length. A 56 or 58cm may have you overstretched to the bars.
I'm the opposite, 5'10" with a 30" inseam! Legs need a 54/56, but my long torso means I'm cramped. I used to ride 57-58cm with a 100mm stem for the longest time.