Thinking about it, the pegs on my KTM are not round. They're flat off-road style pegs with serrated toothed grips, except your foot doesn't ride on the teeth because they have rubber pads inserted which can be removed for standing up during off-road riding. They do fold up and they're quite narrow but very comfortable. Maybe that's the answer.
But, given the ergonomics of an adventure bike you sit directly above the pegs so your feet naturally sit flat on them. If similar items were fitted to a R3 GT with a much more foot-forward riding position they'd need to be adjustable so they could be angled to meet the flat of the sole of your boot. Shame Pivotpegs don't make a plain set for the R3.