On 2nd generation FJRs MCL makes a peg lowering kit, but I don't know about 3rd generation bikes. Also the peg lowering kit makes the bike scrape a lot more in the twistees, Another part solution is highway pegs. You cant' just keep your feet on them all the time, but you can put your feet on them enough to keep your bad hips from screaming. Also on 2nd generation AE models you can actually ride with your feet on the highway pegs most of thetime by using the paddle shifter and learning to use your right heel for the rear brake instead of your right toes.