i do what you are talking about with the long angled highway peg mounts, with the exception of resting my foot only on the highway peg, legs are too short though, i'm 5'4'' with a 29'' inseam.
My RK pegs are setup similar to this RG.....I'm a short fart also.
I installed the 360 degree highway pegs and they work great. I can have my heel on the floorboard and put my toe on the peg. Exactly what I wanted! Thanks again to everyone for your help.
I went short angled for just what you said, feet on the boards - feet on the pegs - heels on the board & toes on the pegs (my favorite).
This works really well for me.