Danny,
A quick search of
2000 S10 data on pages 33 and 35 of this document show an NV3500 5 speed being offered behind both the 4 cyl and 6 cylinder engines. It replaced the T5 and has an integral bell housing instead of the separate bell housing and transmission your truck came with.
From a bit of further reading, it seems the bell housing pattern will possibly bolt up, but there are other issues which will need to be addressed in making this transition. If you search the web for NV3500 transmission conversions you can see what is out there on the subject.
A
recent conversation did discuss a shifter issue with a members' Chevy small block and NV3500 installed in his AD Chevy truck, but I couldn't find any conversations about using that transmission behind a '58 GMC.
Perhaps some of our GMC guru's will chime in with more info???
Dan