If you visit a shop that is pretty clued up then the staff will usually be able to size you up by eye, sit you on the bike they feel is the right size and fettle it to suit. They will probably start off with the saddle height, ideally with you on an indoor (turbo) trainer but they should also check your reach as this is one of the most crucial measurements on a bike. They should take into consideration how flexible you are and how aerodynamic a position you want to be in and adjust the handlebar height accordingly.
Frame builders sometimes have their own adjustable jigs that save the time spent swapping parts over on a real bike set up on a turbo trainer.
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