This past spring I decided that I had had my boots longer than I could remember when the heck I got them. And that they were really just a high-top leather shoe. After a fairly long gestation period, I bought a pair of Icon Dakar boots. Rear entry with all the protection modern boots offer. They of course had the same shifter issue as you. I fiddled with adjustment and started to look at longer levers or mods. Meanwhile, I was still riding my V2 and at some point I just didn't notice it as an issue any more. Turns out I just up shift with the side of my boot and downshift with the bottom of it. Works fine / not looking back.
Current Rides: '14 DL1000 ADV, '06 SV650N, '93 900CBRR, '74 Ducati 750GT ['02 BMW K1200rs SOLD Aug '17]