I agree with what BP said. You probably want to size up.
I'm also 5'10" but the opposite of you - very long legs and a short torso.
I generally ride 56 road bikes (56 TT) with a 100 or 110 stem. When I started, I went with a 56 Felt TK2 and set it up like my road bike. Over my first season racing - doing all events, enduro and sprint, I kept going longer and lower on my stem. I'm now on a 57 Dolan DF4, with a 130 stem. I could probably fit fine on a 59. Like BP, I mostly do sprint events now, but I have done enduro events on it, though I sometimes will add a spacer under the stem when I do. (I'll add, when I first set up my DF4, I was at max seatpost, given my leg length. I had a proper sprint fitting done, and we lowered me a bit, though pushed me back.)