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This question comes up pretty frequently and I had the same sizing question as I’m your same size, so I’ll summarize what I put up earlier in the thread.

I’m 5’10 and started on a large and it was hurting my neck due to the longer reach than my other bikes, so ended up switching to a medium (50 mm stem 210 dropper). Comparing the large to the medium, the large obviously felt more roomy and great for bombing down. It did seem a bit more unwieldy on tight tech climbs. The medium was much quicker/flickable and truly didn’t give up much on the descents. Between the 2, I prefer the medium immensely for the type of bike it is. To be honest, I think most people can accommodate to a range of geometry a bit better than I can as my job puts a ton of stress on my neck, so either size would probably work for you. It’s just picking what you want to prioritize with the bike. If you like the s3, then I’d go medium personally. But if you can, go throw a leg over each and see how they feel
 
5’10” is really the worst height when it comes to choosing MTB sizes. I’m 5’10” and rode a large Spur. I had 210 dropper slammed so I was probably right on that point where I could of rode either, but I really liked the large and never had the urge to try a medium.
 
Your wheelbase, top tube, and reach all grow 25-30 mm from m to l. I ran the large with a 35 mm stem and due to the wheelbase and top tube, it definitely felt different than the medium (it was immediately noticeable). That being said, as blue pitch noted above, he loves the L. Both sizes can work well for people. That’s always the tough part of being 5’10. But if the price is right and it feels good riding it around the parking lot/hopping stairs, then you should be good.
 
5’10” is really the worst height when it comes to choosing MTB sizes.
I'm 6'7"... must be awful having multiple sizes that might work well for you. :p And then needing to consider bikes from literally every MTB company. Brutal.
 
5'10 also, 130mm fork on size Large.
It always takes a bit of getting used to after the fatbiking season, mostly because fatbike has a bit of an old school geo and size M, but very happy with the Spur in that size once the body position is back in check.
 
There is workaround in this thread to get Transmission to work on non UDH frames

Quick update: the T-Type workaround went great all season, the derailleur was flawless and I’m sticking with the older eagle-era chainring for another season.

The primary benefit to me is much less chain slap compared to the AXS derailleur I had before.

I did ditch the e-thirteen cassette with the spacer about midway through the system and replaced it with a T-Type cassette and chain. Much more secure setup.
 
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