One key item the recommendation charts don't mention is leg length. Some people have very long legs proportionately, some very short. I'm the latter. Whether you can reach the ground when the bike has to stop is important, and longer legged people have the advantage here. Bike "size" has to do with the distance between seat post and handlebar stem. That measurement has more to do with how long the torso and arms are. Various handlebars can be bought to adjust the posture after you buy the bike. The seat can only be adjusted down so much if the rise is too high. Hope this helps you decide what size you need. Be aware, for maximum efficiency when pedaling unpowered, the leg should be only slightly bent with the crank at the bottom. Seat adjustment up can help make that happen. But with the seat up you should also be able to comfortably reach the handlebar controls with only as much bending over as you like. Racers bend over radically, I'm like you, I've always liked the almost upright style called "cruiser" now but was called "English racer" when I was young. I have a quite wide seat I can sit on for 4+ hours without pain or numbness.
Furthermore, bike shops tend to stock large, and sometimes medium. In most cases the shop will make you pay for a small bike in advance, then if you don't like it when it comes in, tough, you own it.
I advise going to a discount store or a charity resale shop with a tape measure, sit on some bikes, find one you like, and measure it. Stem to post and lowest seat position to crank center are crucial measurements. i was prohibited from sitting on a bike I liked at a LBS since I didn't have a helmet that day, and funny thing, I didn't buy that bike and I've never spent another dime there. I instead ordered the bike left new off the internet.