Endurace Sizing

Pulling the trigger on the new endurace today this is where i fall on their size chart. Should I get the medium or drop to the small? I’m not super flexible but I’ve tried a few bikes and always feel like 56 frames I feel a bit stretched out on so I like the 54 a bit more typically.

Edit: I noticed it took my height wrong I’m actually about it 5’10.5.