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Similar situation : I am 5'11" (56 for most bikes), and was stuck between Infinito 55 and 57. Salesman at store one said "55 for sure". Salesman at store 2 said "57 for sure". On-line measurement tools said "at least 57". I bought 57, swapped 120mm stem for 100, moved seat forward. No regrets.
 
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