I certainly prefer my FJR to a barge like a cruiser, though my wife like the luxury of the seat, back support and less angled position of her lower leg on the latter. She also like grab rails, not that I am a wild and crazy rider. I have lowered the passenger pegs, but she would like a bit more leg extension. Has anyone fabricated or know of any professional who can fabricate and peg extender-extender? How about grab rails? Serious inquiry here. Snarky comments are not needed.
The stock plastic FJR rear rack is useless as grab-handles, but the upgrade aluminum version should be okay. You may
need a sub-frame reinforcement, as well, if you add a tailbox. There are rear rack/tailbox systems, which provide their own good reinforcements. Saw a tailbox with backrest padding and armrests lately, made for an Indian, but there may be something that works for the FJR out there. Be aware of the hot pipes, for the passenger's feet. You can get a chrome pipe guard that looks okay, and attaches to the pipe with screw-type hose clamps. It's a close match to the one
you get on the FJR.
I know there are several choices on FJR footpeg lowering adapters, so shop around. You could
raise the passenger a bit, using an added seat pad, rather than lowering their footpegs; a little extra distance between the feet and body can help a lot for passenger comfort. The passenger may like the better view also, rather than looking at the back of your helmet.
For any of that stuff, start with a Google search, and then click the IMAGES tab under the search line, to get a quick look at the options available. HTH.