Not entirely clear if you are asking about the height of the regular foot pegs or accessory pegs mounted on the "Crash" bars?
My inseam is the same as yours. I have the Wunderlich engine bars, but no pegs mounted on them.
I DO have the Suburban Machinery Peg Lowering kit for the "regular" pegs. Drops them down 1.5 or 2 inches. No problem on ground clearance and much greater comfort being that amount lower. Yes, I have short legs but still lower them for comfort.
Like many things on bikes... each of us have our own approach to setting up the bike.
<---- (That's not it) 2014 R1200RT-W
I'd rather have a bottle in front of me than a frontal lobotomy.