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Given that you won't run out of seat post on the 56, the biggest difference will be the reach. I'd think you could make either work with the appropriate stem length (depending on how much of a T-Rex you are). The 56 should give you a slightly more aggressive position because of the shorter head tube.
Others may have other considerations?
I'm 1,84 cm high with 87 cm of inseem. Could the size 58 be good for me or should I take the 56 of the seta?