In addition to highway pegs, one thing you might consider is lowering the foot pegs if you haven't already. Check out Knight Design:
http://www.knightdesignllc.com/Products/Motorcycle/BMW/F800ST/BMW-F800ST-1-Front-Foot-Pegs.html
The bike is a little cramped for me and this has helped. I've stood up on these pegs to stretch my legs on long rides and have never had any issues with them. Just have to watch how far I lean over - have scraped a few times.
http://www.knightdesignllc.com/Products/Motorcycle/BMW/F800ST/BMW-F800ST-1-Front-Foot-Pegs.html
The bike is a little cramped for me and this has helped. I've stood up on these pegs to stretch my legs on long rides and have never had any issues with them. Just have to watch how far I lean over - have scraped a few times.
