IME, there's no objective way to get the "right" saddle height, but the Riv method gets me in the ballpark. I do change my saddle height +/- a cm or so, even on the same bike, depending on the kind of riding I'm doing (single track vs path/road/gravel) and how flexible I'm feeling at any given time. I'm not searching for the most efficient position in terms of power transfer, but the most comfortable in terms of my muscles, joints, and movements on the bike.
What the others have said (heel on pedal to almost lock out, and adjusting the fore/aft/tilt) is good advice, but how straight to get your knee at the bottom of the pedal stroke is subjective in my opinion. I'd say jack the seat up another 4cm and see how it feels, but don't be shy about lowering it back down either. I think some of the individual differences have to do with femur-to-fibula ratios, hip flexibility, quad-to-calf strength ratios, and butt size, not to mention upright vs leaned forward riding position.
Another Riv method that I like is
1. Move the seat way up. Get it high enough that when you ride, you notice your hips moving from side to side, like you're trying to get a little more extension to reach the bottom of the pedal stroke.
2. Move the saddle down 1/2 to 1 cm at a time until you feel that hip rocking stop.
That's gonna get you your maximum acceptable saddle height, which I would consider "leaned-forward, go fast, roadie saddle height". Go down from there based on what feels comfortable to your knees and hips on the type of riding you're doing.
These are just my thoughts as I've searched for saddle height nirvana and found that it only really exists in the moment.
Paul in AR