Hi there, I have to agree with the gang here. For me the first issue was the seat. I did a Bill Mayer seat. I posted on the forum and a few people let me try different seats. I liked the look and feel of the Bill Mayer a bit better. Best money spent, everyone gave me the recommendation to go with a good seat, and it's for a good reason, I can now do 12-14hr days without having my sitz bones bruised, my hips don't hurt either.
The next thing I addressed was the ability to put my legs in different positions, I picked up the highway pegs: Highway pegs-
https://www.fjrforum....ounting-plates/
They are a huge difference in comfort. That really was the finishing touch in lower comfort. I used them out in Colorado this summer and never touched a peg, perhaps if you had a more disastrous issue there could be issues, but I don't believe you should have issues with the highway pegs restricting your fun. Others may have different experiences, but mine have not gotten in my way.
The last thing that I am going to address on my bike are bar risers. I don't want to drill out my ignition, and am not particularly fond of cutting my wire loom. My issue is I want to change the angle of the bars, rise them and bring them back a bit, without too much of a dramatic change. I have decided to go with the MV Motorrad bar risers. it's a plate like the Heli bar plate, only there are no ugly cable extensions, and you can put everything back to stock if needed. the only downside is it covers your triple tree steering head nut. not that big of a deal for allowing the comfort and ability to adjust the steering angle.
That is what I have done, as it sounds like you are having first time FJR ergo adjustment issues like I did when I first got mine. I hope that helps out a bit, you'll find the people on this forum very helpful. I got to try sitting on some folks bikes at a tech day who had the highway pegs. 10seconds with the pegs and I was hooked. It is a nice bike, you'll enjoy the heck out of it.