The FJR is a big boy toy. If you buy one, you best BE a big boy, not a wannabe.
You sound like a responsible person. My first bike was a 650 Triumph tiger. I just got on it, and rode it. I did not worry about anything. If the times were different - like today - there might have been a problem...
HOWEVER, if you can not firmly put your feet on the ground, I say do not buy a FJR, or any other bike. I sold a c-14, mainly for that reason. I am long-legged BUT still, I am very careful about where I stop and where my feet go when I stop. A little gravel is all it takes. Dropping a FJR, or any sport tourer, is ASTRONOMICALLY expensive, and worse, if the [email protected]
#$% falls on your leg it hurts, and maybe breaks some bones.
The combination of an unplanned and awkward stop and unsure footing when you make that stop will happen. It happens to me (not every day, of course) and it happens to all of us. If your leg is too short (or bike is too tall - whatever) you have NO chance of dealing with it.
I also have a yamaha Raider S. It's a BEAST, and a truly beautiful bike. Point is, almost anybody can deal with the seat height... Tried to insert image but the stupid thing won't do it.