This has been around for a while, it'll give you a ballpark for many bikes, the 2014 CTX700 is available. As most know Honda moved the rider forward with the 2015 seat. So take that into your decisions. Seat Calculator
I have the same seat height issue as you on most of my favorites. The 28" on the CTX was one of the top specs. when I was searching. I wasn't looking for a DCT automatic tranny, but as it turned out I'm really happy with DCT... it'll be on the short list of any future bikes.
That's a pretty handy calculator! The rider in the picture looks just like me!
I'm 5'8" but my inseam is 29". I can't flat foot my Vstrom but I trained myself years ago to be a one foot stopper. I love Adventure bikes, so I deal with the issue right now. I can manage it around parking lots ok by duck walking, but I won't lie, it gets interesting in the mountains. I know I'm shrinking though as I age so, eventually, I will be moving back to the cruiser style (more than likely a CTX).
There is a guy on Adventure Rider who does yearly ride reports who designs and builds his own bikes. He takes frames, engines, seats, you name it, and builds the bike to fit him and his needs. They are Adventure Bikes and he will usually take them and do rides like the Labrador Trail and other North American roads like that from his home in VA. I wish I had those skills. I have searched far and wide for my perfect stock bike and have come to the conclusion that it isn't made.