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@PhilPub
Hi, I'm also 5'10" (31" inside leg) and recently spent an awful long time deciding between the small and medium Planet X. I went with the small in the end, partly because it has the same top tube length as my PX road bike (which is a medium) but also because from my limited experience of using the hire bikes at HH I've preferred the feel of the 54 rather than 56.
That being said, I calculated that there's not an awful lot in it and I could have achieved exactly the same position on the medium. I went with the 110mm handlebar stem rather than the standard 90mm specified, and have the spacers as they came delivered (i.e. one spare above the clamp). So the small maybe offers more options for an aggressive position but the reach can be sorted according to which stem you use.
If it's any help here's what it looks like, except I made some more precise measurements after the photo was taken and the saddle is now about an inch lower. (The 't' in Planet on the seat stem just reaches the clamp.) Having adjusted the saddle to the same pedal height as my road bike, the reach is now marginally longer on this, with about an extra couple of inches drop.
Unfortunately as yet I've not had a chance to give it a test ride. All I can do is spend the next few weeks looking at it till they've put the track down!