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Im 6-1 and stretch my legs out on the stock pegs. I just rest the back of my heel/leg on the peg. It feels better to me than if I had the same stretch but raised higher (thats what your highway pegs will do). Ultimately...safety and comfort should be your goal so go with what fits.
btw...I only do it on long stretches. I learned that after I stretched out and had to get back to the brake ASAP. Not a fun feeling.



True that. My legs start going numb after a while of that.