I had the same problem. Almost dropped the bike because of it. I was going to lower the bike, change seats, move the floorboards up, thought of getting pegs instead...All would work. What I did, that worked for me, is just spend time with the bike ( it was new for me having come from a Roadster). I am short (29 inseam...5'7) but I've grown really comfortable with the bike just the way it is. I had to 'unlearn' some things that came so natural from all the years on the Roadster. I had to get over the notion that I could , possibly, stop the forward movement the last foot or two of a stop, with my feet/legs. I could with the Roadster..no way with the Ultra. Also, NO front brake those last two feet of a stop. In short, I learned and practiced and am comfortable now. I altered my handling and not the bike. This worked for me, and it was cheaper too.