Is there a way to fit highway pegs to the bike without engine guard?

I like to go on long rides. I am fine on standard pegs up to say 80 kmph. Above that and over 100 kmph on highway, my legs feel a bit spread out and the angle of my legs feel tiring and uncomfortable.

I have been looking at highway pegs and all seem to be made to fit on engine guard.

I have a 2015 S40, I am 5'6" and still find the riding position a bit cramped and feel that highway pegs should help a lot.

I am 61 years, have added a backrest (as I get backache) and have after market exhaust, and love my S40.

If fitting highway pegs on engine guard is the only option, then that is what I will have to do.

Another question: can floorboard be fitted without mods to replace the front pegs? I hope they will not interfere with the highway pegs.

(I am not interested in forward controls)

Any feedback, suggestions will be greatly appreciated.
Thanks    

I don't really like highway pegs ,I think raising your feet higher to place them on the pegs puts even more weight on your tail bone and spine.small running boards as Verslagen suggests or a better seat may be money better spent.

I posted about small footboards I made, you might be interested--

http://suzukisavage.com/cgi-bin/YaBB.pl?num=1493331156/0#0

They help me alot and stop my feet from getting tired. You can also put your ankle on top of them and let your legs stretch out, if the road is open.

I've also ran drag bars in the past and really liked them. They have the advantages of shifting weight off your spine, and if their wide enough you have better steering control,(more so at parking lot speeds) with less input ,and because your upper body is leaning forward they can be more comfortable at highway speeds if not running a windshield. the weight of your upper body leaning slightly forward over the tank also makes the bike less likely to experience high speed wobble.Mirror placement can be the only problem ,the bars being lower ,the mirrors need to be moved a bit wider to see around your body (I bent the stems,to be lower and a bit wider).

e showed me an option of footpegs with heel support and it looks like it will do a good job. The heel support angle is adjustable.

Never heard of such but would be interested in seeing it.

I wear boots with heels, and when shifting my foot never leaves the peg but pivots around it. I don't see how these would work for me,as the heel support doesn't move ,which means your heel can stay in place but you have to lift the entire front of your foot off the peg when shifting to a higher gear.I don't know how hard you ride your bike but I've ground about 1/4 " off the bottom of my stock pegs and it looks like these hang out even farther,they may be OK for the superslab but I won't like them on a twisty back road.H/D has different size mounting bolts.