FWIW, I have a trap bar that someone abandoned to my care as well as commercial farmer's walk handles, and have used both for carries. I'm in that same 5' 7"ish range, and have never had an issue with shins, toes, etc., using the trap bar. Can usually jog along much quicker than with the FW bars. For taller folks, your mileage may vary.
I like the FW handles, as well. They seem to work my grip much more than the trap bar, especially since they're independent of one another, but the trap bar allows for heavier loads and makes things in the upper back work differently since my hands are much wider.
Different strokes, I suppose. I usually just use heavy kb or db, and save the effort of loading the bars, to be honest.