I'm 5'10.5" and vascillated on 55 vs. 58. The San Jose sizing kinda sucks, there's big jumps all around.
I ended up buying the 58, I like the bars-almost-level-with-seat for commuting purposes. Standover is fine, I'm not bothered by nadular grazing, and have a few inches to hard contact. Top tube is a tad longer than I like. I put a 90mm stem on it, shoved the seat all the way forward, and it fits great now. I'm considering a Thomson seatpost to get some more adjustment range in the seat (no setback) and allow the rails to cushion bumps better.
So have your LBS toss on a shorter stem (same rise) and give it a whirl. I bet that will help considerably. Most will swap one to try for yours to see what you think.