There is quite a lot to get your pedalling position right. Not just height etc.
Shin / thigh length, cleat position, flexibility, type of riding, etc.
Quick method: Assuming you are happy with cleat position already, and sag is set up about right (or lock out front and rear first if poss.)
1)Get seat height right… with heel on pedal, leg should be locked out straight when pedal is at lowest position (in line with seat tube).
When you move foot to normal position, this should give you a slight bend at the knee.
2) Get seat set back right… sat on bike in normal riding position, cranks horrizontal. Drop a plumb line down from just below your knee cap. This should go through or behind the pedal spindle. In front is not generally a good idea. Move seat back and forth to get this right. Big adjustments and you need to re check seat height.
This is fairly basic, but will get you very close to your ideal seat position. Bar reach height comes after imo !
You need a helper to get it right really. Happy to have a look if you are in the Holmfirth area, or if I'm over your way.