I think it depends on the bike itself, the style, geo etc.
I am 6'1 and ride a 58 Cannondale but a straight top tube style CAD3. I rode it for years with 110 mm stem. I had to replace the 130 right after the very first 45 miler, felt like I was being stretched on a torture rack. Now I have an even shorter stem higher up to get real comfy. So maybe I could have used a 56 but felt too small for me as far as seat height. I was told by a tailor who made some mods on a suit coat, that I had short arms for my height. Hey, I am not a gorilla with arms to my knees ha ha!
But then I have had a Trek roadie back in 1996 and a Madone from 2014 that are size 58 and fit like a glove right out of the box with the stock stem, maybe a 120 if I recall correctly. But a big difference in comfort right out of the box between the two.
My suggestion is to take the bikes for a test ride and see which fits better.
At 6'1, a 58 Cannondale works for me with stem mods. Seat height is perfect. But a Trek Madone is perfect out of the box with the stock stem. So a bike can be labeled as the same size but different in fit.
Also keep in mind, some manufacturers measure from center to top and others center to center. (center of bottom bracket to top of top tube, or center of top tube. So a 58 could actually be the same as a 57 in varying manufacturers depending on how they decide to measure the frame.