When I bought a bike last year, it came down to the 696 Monster and the KTM 690 Duke. After riding both I went with the Duke. It just flat-out handles. One of the moto mags did a reveiw of the two and the Duke came out on top. If you get a chance ride both back to back.
The only issue is the standover height (I'm 5'8" as well). It is usually just one foot down at stops.