The prevailing thought, based on what I have read, is that the Haibike Trekking frames 'run large'.
Didn't really seem the case to me as I am very comfortable on my XL sized frame, and its nice as I don't have to run the seat post way up like on many other bikes (I'm 6'4" with a 33" inseam).
My wife is 5'6" tall and I originally ordered a small (48 cm) high step frame for her. But that order didn't go through as the last bike had been purchased before me and the company's inventory didn't update quickly enough. Tried next for a low step model, but those also ended being sold out.
So I measured frames on her current bikes, especially the stand-over height. With those measurements I found that the high step medium (52 cm) should fit her, bought one and she loves it.
I will say that she is a very confident and capable rider, and is used to leaning her frame over (muscle memory) when she comes to a stop and puts her foot down. Perhaps this allows her to be more comfortable on a bike which others may feel is too tall for them?
At 5'11" I would really think that your 52 cm frame size is appropriate for you (@Ravi agrees - and he is a very knowledgeable resource). Unless you have unusually short legs. As
@BlackHand said above, it just may take a few rides on your new bike to find that the size actually works very well for you, and it precludes you from the hassle and expense of returning it.
I'm rather tall so my opinion may be biased by that, but my preference has always been one size too large is preferable to one size too small in bikes.