Have you tried a lower seat? One downside to lowering the bike is you put the footboards that much closer to the pavement, resulting in more scrapes in the turns.
Your dealer will have different seats that you can try to just see if that will help. If it does, you can select a similar seat from other vendors, like Mustang, or others.
Mean city cycles can drop your height a little on the stock seat. Give them a call, not sure how much they drop a stock RGS seat but I dropped my old limited seat about 1.5 inches and move it to my RGS for my wife's comfort and mine as well.