Interesting....I bought the Triumph long haul seat shortly after getting my bike. I actually think the stock seat was a little more comfortable to sit on, but I wanted a backrest. Unfortunately, the backrest is not easily removable. I do feel the long haul pushes you more forward and the curvature towards the back of your butt is what makes the seat set more forward and less comfortable. The backrest itself seems to be about right for position. I am 6'0" with about the same inseam 33-34...I have Triumph adjustable swivel highway pegs that I agree will put more pressure on your butt if you put your feet up on them for awhile. My solution is to have the pegs adjusted in such a way as to also allow me to rest my heels on the floorboards and my soles/toes on the highway pegs. This allows me to stretch my legs out for a more comfortable ride. I do agree the handlebar position would feel better if it were back a couple of more inches but I have not found it necessary to do the riser thing just yet.
If your looking for more comfort, look into the AirHawk cushion for your seat. The AirHawk R is a good choice for comfort and it will lift you up by about an inch. You just add enough air to make it comfy. Also, it has enough grip to simply rest on your seat while riding. I am more inclined to use it on long ride. Without being inflated with air it packs up nicely. I put several of my friend on to the AirHawk R and they love it. I also checked with Ultimate Seat but they have no plans at the present to make a seat for the Rocket. Your talking close to a $1000 for the Ultimate.