I'm 5' 10" with a 88cm cycling inseam and got the 58 frame. I've been using it for a few months but have just ordered the 61cm since I've got long legs and couldn't get the seat back as far as I need, even with a setback seatpost.

Re standover: the geometry chart says the standover on the 58 is 827mm but I measured it at 810mm with 32mm tires.