I don't have the Rivco, I have the Kury- Ergo II. Looking at your pic, it is very similar. They do stick out somewhat, but the Kurys will fold up, maybe the Rivco also does, when not in use, but they have to stick out a bit, or you wont get your legs around the lower fairing so to rest your feet. When mounted properly, they don't interfere with turning/leaning.
I have a 32" inseam and they work great for me. 2" shorter may be a slight issue. I am not quite fully stretched, but close. They do have several adjustment positions, though. They are a 3 piece unit- 1st piece mounts on the crash bar, the second- the " arm", mounts to that, and finally the footrest mounts to the arm. The arm is about 2" long. I have seen the Ergo III models that now offer a 4" arm. The arm will pivot forward and back and up or down , to your preference. You may be able to get a 4" arm for the Ergo II also.