I've got a 551 and a 566. I carry the 566 more these days, though I love both. my hard rule is 10 folders - want a new one, get rid of one of the others - it keeps an expensive habit in check for me - and I have kept both. overall, I tend towards a little smaller 3" blades for everyday use (I rotate between a benchmade mini-grip, spyderco chaparral, small sebenza (micarta inlay fits me better), victorinox compact, a Kershaw cryo, and a spyderco ambitious on a day-to-day basis). but come jeans time, heavy-duty use time, I grab the 0566 now preferentially over the 0551. little slimmer overall profile, but still fills the hand very well. I still do love my 0551 but I tend to pick the 0566, for the lower profile carry.
it's a little slimmer overall package than the 0550/0551. love them both, so whichever one speaks to you will be a great choice. if I had the 2nd gen 0550 with the low-rider clip instead of my 0551, it would be a coin flip each time I wanted to carry one of my 'bigger' knives. and though the 0566 is slimmer (less blade/handle height, not actual thickness) I think it might actually be a little heavier d/t steel vs titanium on the body.
the 0550/0551 is as big a knife as I would ever need or want to carry around, even the ZT 0350 feels too big in the pocket for me for everyday use. so I know what you mean about the 0561. too big for me, too. I see those, see a manix, and think 'wow, that's a huge pocket knife. I'd never carry that'. I use a fixed blade when I need a knife that size.
but then I'm pretty sure when those guys see me whip out my mini-grip or small sebenza or chaparral, they just snicker.
ETA:
oops, slow intermittent typer between appointments, late response. you don't really need the assist once you figure out the trick on the 0550. and the trick is flick FORWARD with your thumb, not OUT. makes it fly open instead of only making it 2/3 of the way without a wrist flick. you'll build a thumb callus, it'll be great.