I have recently gone through Prop selection academy at the school of hard knocks and expensive props haha. And what I have learned is 1 inch of prop pitch change equate to roughly 150-200 RPM change. The 24P prop you had is really designed for high speed as compared to lower pitch props. Forgive me if you know this already but for the sake of being thorough, the higher the pitch, the further forward you boat travels forward at speed with each rotation of the prop. So reducing the pitch to a 19 for example you would travel less distance with each rotation, but the physics of that pitch mean your outboard can transfer power easier, meaning better acceleration and torque for getting on plane. The downside is that when you are at speed and on plane at wide open throttle (WOT) it will be turning faster than the 24P. Its like a 10 speed bike, you can't start on the lowest gear (equivalent to the 24p prop) because it is difficult to get started from a stop, but when you are going fast that's the gear you want to be in to travel the greatest distance with each rotation of the pedals so you don't have to pedal so fast to maintain speed. The opposite is true on the bike, if you start in the higher gear (equivalent to the 19P prop & easiest to pedal gear) you can get going from a stop easily, but when you are going fast you would be peddling like a tasmanian devil on meth. Assuming the prop diameter is the same, going from a 19P to a 21P should reduce your RPM's by roughly 300-400 RPM at WOT. You will loose some low end grunt and the time it takes to get on plane will worsen a bit but you wont be running your motor too hot at WOT. Chicks dig $$$ more than speed and you will have less $$$ if you have to re-power the old girl.
There are variables, engine mounting height, whether or not one of the props is cupped and another might not be, etc. but the 150-200 RPM per inch of pitch is the rough guideline. Another factor is the material. Stainless props spin faster than aluminum typically so just a swap in materials will have an effect on the RPMs at WOT as well.
Unfortunately you need to decide what is more important, the ability to get on plane and do so quickly, or maximum top end speed. A higher pitch prop will give you better top end speed at the expense of torque which will hinder your ability to plane or plane quickly. The inverse is true for a lower pitch prop.
So if the diameter is the same, and you should check that, going from the 19P to the 21P should get your RPMs closer to 5600-5700 if you were at 6000 previously. I like to play it safe and am a conservative guy who worries about blowing up the engine, the reason I just played prop whack-a-mole was having to re-power after blowing an engine. Don't worry, it didn't blow because of the prop and thus making this advice suspect haha. If it was me I would skip the 21P and go for the 22P. That theoretically would get you closer to 5400RPM than 5600 RPM at WOT and I would feel more comfortable with that. You should look in your user manual, they are pretty easy to find for free online, and confirm the recommended RPM at WOT.
For my boating needs, mostly fishing but no serious tourneys where drag racing to "the spot" is "critical", I value ability to get on plane more than top MPH so I tried to prop for that scenario. Being able to reliably plane out makes boating easier and safer in my opinion. So I think that a 22P would be the safest way to go. A 21P will accelerate a bit faster and help with planing a bit as compared to the 22P but will probably have your RPMs still a touch over the 5500 you are shooting for. That being said, you haven't blown it up at 6000 RPM yet so whats the diff between 5600 RPM and 5400 RPM????
Hope this helps!