I'm 181cm or 5ft 11 and ride a 56.
I have very long arms and legs, and a short torso for my height.
Therefore in terms of my leg length a 58 frame would be fine in terms of the seat tube. However due to my short torso the top tube(measured horizontally) should ideally be around 55.5 to 56cm and they don't make bikes like that. My current frame is a 56cm, and has a 56.5cm toptube which is, if anything, slightly long. But the 54cm frame was way too small.
So my frame although not perfect is close enough, and handles really well.
Due to my longer than average arms for my height I need a 120mm stem as 110mm that came stock is too short. This also helps so my knees don't hit the handlebars when off the seat going up a hill!
Leg length relates to seat tube length and saddle height.
Torso length relates to horizontal toptube length
stem relates to arm length and reach
IMO the Top tube length is the most important in terms of fit. You can always put up your seatpost, or get a longer/shorter stem.
For your height, a 58cm frame would in most cases be too large. Generally a guy b/t 6ft to 6ft2 would fit a bike of that size.
I'd be going with the 56 if I was you.