short answer – depends
long answer – manufacturers all size their bikes differently so someone’s 56 might be someone else’s 54 and someone else’s 58, add to that different manufacturers having different headtube lengths for the relative size which will have an effect on how low or high the bike feels, and then different models in the same manufacturers catalogue having different headtube lengths means there’s no hard and fast rules
the only proper answer is to go sit on a few different bikes and see what feels comfortable to you, and talk to the person in the shop that knows about these things