(I have a lowered 2017 R1200GS, and find it perfect for me, as I am 5'6".) I think at 5'10" you'd be happiest with the full-sized bike; however, it nevertheless may still be a little tall for you, but probably better than the lowered one for you. I have access to a full-sized 2015 GSA and the pegs are about 4" higher than on my lowered version--its really tall--and its owner stands on one peg while on the side stand to get on it. It's owner is about 5'10" and I think it is a little tall for him; nevertheless, still better for someone of that moderate size than the lowered one. If you were to get a lowered version, you'd probably have the seat jacked up all the way, which may be more comfortable than a low seat. One problem with the lowered seats is they scrunch your feet and legs closer to your hiney, so lowered seats bring their own comfort problems. I have--and need--a lowered seat, but find it a bit uncomfortable.
The reason I own an R1200GS is wholly because could get it in a factory-lowered version. I bottom out the shocks about once a year, not too hard, barely noticeable. I don't consider the shorter shock travel much of a problem on the lowered version