I'm 5'6 maybe 27" inseam. I have mine lowered in front 3/8" lowered in rear 1/2 with adjustable links, and wear a boot with a thick vibram insole. I also have 53 years experience riding the last 42 years on liter class bikes. You can also cut some foam out of the seat.
You didn't say how much experience you have (be honest with yourself). The FJR is a big tall, heavy, fast motorcycle. When on the small stature side of things, experience makes a big difference imo.
2018 Yamaha FJR 1300A
2014 Honda CB1100 DLX
It doesn't matter what I ride, where I ride, how fast I ride, or how far I ride... it only matters THAT I RIDE...EVERY DAY. "Ferret"