I'm the same height as you. I have a 35" inseam.
I tried the stock GT set up before I bought my Rocket. I didn't like the peg geometry because I felt like my feet were slipping off them. I kept having to pull my feet inward.
The set up I have is GT seat, mid controls & GT handle bars. It's not a set up that I would have thought as being the one to go for, but having tried it on a bike at the dealer I was won over.
The trick is to sit well back in the seat and use the raised rear form of the seat to support your pelvis. I haven't suffered from any back pain or shoulder/neck pain on long rides. I thought I would have done. It has surprised me how good the geometry is.
I gives good control in city riding and is great at progressive speeds on very twisty hilly roads. Way more comfortable on bumpy roads. Cruises nicely, but not all that comfortable on long motorway journeys above 70mph.