You have the answer within your grasp. Comfort is when the wheels are rolling. Reach when stopped is an afterthought since stopping isn't riding. 0
Learn to never park where you have to back up. Learn to get 1 foot down (which MSF teaches everyone already). Balance and control are what all heavier bikes are about. Brute force can hurt when trying to stop a nearly 700# bike once it's past the point of no return. Scooch forward when stopping to get up on the nose of the saddle to make use of the cutouts they designed specifically for that.
Look at some videos of basic dirt riding tips. Those are great because dirt bikes are all tall and teach skills that are useful on the street too.