I am 5'11.5" with a similar inseam to the OP and I have four old 23.5" Raleigh frames (1976 Professional IV, 1973 International, and two 1978 Super Course) in part because they fit me so well. I also recommend waiting for the larger size. I have other bikes ranging from 21" to 25" (all traditional vintage with horizontal top tube), but 23.5" is the sweet spot of not needing a long seatpost and riser stem and having no issue with standover (but I usually get off my bike when I want to stand around...).
-Will