I have the Givi caseguards and have bodged a pair of cheap flip-out footpegs on the bars. They "sort of work", but do place my feet very high, so I probably look like a jockey, but it affords a little relief. I can also rest my legs on the pegs for a couple of miles, with my feet stuck out ahead......(not very stable, but on the slab - acceptable)although the pegs dig in a little, so it's not that comfortable - just provides a change of knee-angle.
What is really needed is a drop tube which hangs the pegs down about 5 or 6 inches form the gaurds and I haven't been able to fughre out how to do that yet. I've even thought of bicycle handle bars strapped on with radiator clamps to the bars, so it's getting desperate!
'15 Red DL650
Subaru Outback X/T
Brody Mtn Bike
Give 'em a twist, a flick of the wrist
That's what the showman said...