I was in a similar situation when I bought my 58 Joe. My PBH was in the 87/88 
realm so my saddle height was about like yours, a 76ish mark.

Riv staff placed me initially on a 55, but with my long dangly arms I felt 
cramped. The 58 was definitely a better feel size wise; one caveat to that is 
when I run fat 29er tires the top tube is right up there, especially in flip 
flops. 

I can imagine the 55 would be a superior ride off road for our size. 

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