I've got one, and I am 5'-10", too. But I have a lot of my height in my legs, and a short torso. The long legs allow me to flat foot the 650 "strom, and then some. It is a tall bike - it gets a LOT of comments on its size, but it is nimble and easy to handle, because it's not a way heavy bike, and the center of gravity seems to be low - even with the enormous gas tank full! It is really nice out on the road, riding up high, looking SUV drivers right in the eye!
I was scared when I first looked at the bike, but as soon as I sat on it, I knew it would be fine. However, if I had to do it on tiptoes, I wouldn't have felt that way at all. I also have to add I wasn't a total beginner. I had the MSF safety course, and 3 years riding a 250cc scooter.