You should also think about your back in another sense. Those old foot rails in the old time bars/pubs were a very good idea. We tend to bend over or brace ourselves in such a way that it is the worst position for our backs. With the foot rail, we put one foot up and stand in such a position that it is the optimum position for our backs. Leave a space at the bottom ot simulate the foot rail ro do the real thing and instal a foot rail. Your back will love you for it. This besides getting the correct height.
BTW I am only 5'8" and most counters are too short for me too. I agree they were made more for a pre teen child.