My personal take on ideal footpeg location is to have them below the rider's CofG. If you sit in riding position on a bike while it is on a center stand or a paddock stand, and can lift your butt off the seat without having to neither "push" nor "pull" on the handlebar, then you have a good, balanced riding position. This will be pretty similar to most dirt or adv bikes footpeg position.
In stock form, the older RDs, as well as my XS650 have the pegs way too far forward. Kawasaki triples are much better in this respekt.
In stock form, the older RDs, as well as my XS650 have the pegs way too far forward. Kawasaki triples are much better in this respekt.

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