Stack and reach, taking the stem length into consideration.
I’m 5’10 with ~32″ cycling inseam (“hardback book” with bare feet method), my 58cm Cube has 388mm reach (with a 110mm/ -6 degree stem) and 610mm stack. The RS505 hydraulic brifter hoods are quite long too, adding another ~10mm+ compared to most hoods.
The 510mm Tempest frame has 383/579mm reach/stack.
The 530mm frame has 394/588mm.
The 550mm frame has 406/599mm.
By default the Tempest comes with a 100mm/ +10 degree stem. Probably wouldn’t want the stability of a longer road stem. http://yojimg.net/bike/web_tools/stem.php makes it 19mm less reach and 24mm more stack than my Cube stem, using Tempest 71.5 head angle.
I would probably choose the 530mm frame even though I think I would also fit the 550mm without upsetting my lower back, because I think I could then choose to use a 110mm frame if it was getting far more road than offroad use.