FWIW, I'm 5'8.5" with a 29" inseam (pants size, not crotch to floor) and 33" sleeve length (shirt size). I ride a 54 Aegis Aro Svelte and a 52 Van Dessel Flahute (both road bikes), each of which has a 110mm stem. I also ride a 52 Bianchi Cross Concept (cyclocross bike), which is probably a bit too big for me. All three bikes were bought on eBay for far less than a comparable bike would cost at your LBS. Both the Aegis (paid $1275) and the Biachi (paid $750) came full Dura Ace, except for the full carbon FSA crank and Pauls brakes on the Bianchi. The Van Dessel I built up myself with 105 and better components for less than $1000 total.
My bet is that your "ideal" road bike frame size is probably either 53 or--more likely--54, with a top tube no longer than 53.5. My 54 Aegis has a 53.5cm top tube (c-c), a 54cm seat tube (c-t), and a 72-degree seat angle. My 52 Van Dessel has a 53cm top tube (c-c), a 50cm seat tube (c-t) and a 74-degree seat angle. Interestingly, the "smaller" Van Dessel actually has a longer wheelbase (97.3 vs 96.6cm), a fact attributable to the Aegis's "bent" seat tube and greater fork rake. Here are links to my bikes' geometry, if you're interested:
Van Dessel Geometry
Aegis Aro Svelte Geometry
Bianchi Cross Concept Geometry
You need to be aware that reach to the bars is easily altered by shortening or lengthening the stem. Seat height and fore/aft placement should be determined based on positioning of leg/knee/ass relative to the pedal; reach to the bars should have no bearing on seat placement. Reach to the bars should be determined after appropriate seat placement, with any necessary adjustment made by shortening or lengthening the stem, with stem height being adjusted either with spacers or by flipping the stem over.