I'm 6'2", 230 lbs. I pulled the too soft stock foam and replaced it with 2 layers of 3/8" Ensolite camping pad foam and water buffalo leather. Much better, even with the stock foot controls.

When it was stock I'd just scoot back onto the pillion seat and control the bike from there.

If you can find a short person with an 800 Intruder (now called S50) trade shocks with them. Both bikes will ride and handle better, and you can still just walk on over the rear fender, plus they will no longer tear up the p-pad and backrest trying to throw a leg over their bike.