>>155029656cm definitely
most bike manufacturers don't recommend 58cm until 6'0-6'1 or so on modern bikes
if you use the standover height rule of thumb, the 56cm will likely make more sense, you want like an inch of clearance on a horizontal top tube bike
you could even glance at a 54cm frame
primož roglič is 5'10 riding 53cm
chris froome is 6'1 riding 56cm
jürgen roelandts and oliver bridgewood are 185cm (almost 6'1) riding a canyon size medium (roughly equivalent to 56cm)
https://www.youtube.com/watch?v=v17PH7xOZgA 