Compact frame looks really small! 51cm Felt for 5'7"?

Hi!

I've been test riding the Felt VR30 and I really like the specs, but at 5'7", I seem to be right between their 51 and 54 sizes. The 54 felt too big (too stretched out and the handlebars were too wide), so that doesn't seem like the right one to buy. The 51 felt super agile and fun, but I think...