Sizing can be quite different between brands, seat tube length means less than some of the other numbers, I would look at the actual numbers if you can and compare things like ETT, reach and seat angles to get a feel for how it’s actually going to fit.
At 5’10” I am at the bottom end of the recommended size range for my bridalslayer’s frame (size ‘L’= 540mm seat tube, 560mm ETT, 74* Seat angle) but I use an 80mm stem, where the bike would probably come stock with a 100mm+ stem.
It’s also worth looking at an inline post as that would let you bring the seat forward, open out the hip angle and combat that “stretched out” feeling…