At 5'10" and broad shoulder you will have no dramas with a Defender. The elbow room does take a little while to get used to, but after 10 or 12 years you wont notice it, less of an issue if you cut off your right arm.
Just kidding, after a few weeks you wont notice it. Is a little disconcerting for a while.
As a lot of us you can raise the seats as well to give more leg room.

I am about 5'9" and broad shouldered and broad stomached and have no issues.