In regards to this there was this kit I saved the picture from some years back that you could adjust your control position. Think it was a Japanese company but someone may be able to put us right on that. Price as expensive from memory. Maybe they are still made?
I'm long in the leg and have the std footpegs that I find ideal, coupled with the crash bars and highway pegs I can rest my heel on the footrests and toes on the HW pegs, or stretch right out this is good for long distance to stop cramping over time.