That's the advantage of an Endurance bike like the Domane, by design they are quite 'bike fit' friendly.
I have used the same saddle height and setback on all the above with 30mm headset spacers. Due to the higher stack of the 58cm the reach from saddle tip to bars is only 2mm more. The drop to the bars on the 58cm is quite conservative, with such a minimal drop most would remove spacers to lower it on this kind of bike; I've done that on the drawing below for you.
For sure to a new rider listing the bar drop on the 56cm to the top of the bars as
51mm maybe just a number with little useful meaning, that's where the bike fitter will be able to help as they can set the jig up so you can feel what that number relates to. Put into context without a fitting, that drop to the bars is normally doable for someone of our height and dimensions on this style of bike if they have average flexibility. Using myself as a reference I cope with a larger drop of
63mm on my
Van Nicholas Chinook, I have an arthritic back and very short hamstrings and literally don't get past me knees when attempting a toe touch; as you can see below I do not have an aggressive position.