Quick bike fit question

I am making my way through all the bike fit literature here. I am trying to make sure I understand it correctly. Is the following intuition correct: I am 6’ with relatively short legs (31.5 inseam). Should I lean towards a larger frame (e.g., 56) compared to another 6’ guy with short torso and long legs (e.g., a 54)?

Look to the chart on here regarding stack and reach. Bike companies differ in their setups. For instance I ride a 54cm Roubaix but ride a 56cm P3.

Yes, you have it correct. Torso length is a primary driver of bike size, so a longer torso would generally ride a longer top tube bike.