When i ride with my feet on the factory pegs they feel like they are somewhat behind me
1-degree, the F6B position bends your knees at an 89 degree angle. This is considered normal position on a "standard". Compare this to H-D Road King that has a 96 degree knee angle, or the V- Rod at 130 degrees (feet forward). The Yamaha R1 sport bike angle is 71-degrees. What bike were you previously riding? BTW, I'm 5'11", the F6B footpeg position works fine for me, no plans for highway pegs, not needed.
For a model-to-model comparison, go to www.cycle-ergo.com