Ever seen this? Maybe it will help. http://cycle-ergo.com/
I found it to be virtually identical to my '09 DR650. Boots make a difference too. I'm 5'11" with a 32" inseam and can flat foot the DR with my riding boots on.
"...then suddenly, this soccer mom in a mini-van pulls right out in front of me! It's like she never even heard me!" ~ Said no one ever.
2013 Tiger 800XC