'06 A - Never touched one, and I lean Way more than I ever could on the concours.
Since I don't know you, I don't know if that means anything.
I scrape my pegs all the time on my '06. I've just gotten used to it; I can certainly lean this bike over farther before I scrape the pegs than I could my Thunderbird, so I've had lots of experience scraping. I've set my shocks to the sportrider.com recommendations, and in fact found the front shock to be *too* stiff, as I was getting harsh jars from road bumps on tour, even 2-up. Remember, they upped the spring rate on the '06 forks. Backing off the compression damping a few clicks made all that go away and now the front is smooth as buttah; I still have the preload cranked down. Even when riding solo and the rear set to 2-up ("hard"), I still scrape pegs. I might crank the pre-load up a bit more by tightening the lock rings, though the only thing pre-load affects is static sag, NOT compression in hard cornering. compression damping would help that, but of course compression damping is not adjustable on the rear shock. Either way, I hit the pegs plenty, and have about 3/8" of chicken-strips left on each side of the rear tire.
I think DAVIDDOWNS2000 said it "when I hung off and got my chin into the turn, the dragging was reduced" is the key. If you lean your body into the turn, the faster you can carve and the less you scrape the pegs.
I agree here completely; hanging off lets you keep the bike more upright, so you scrape less. Even so, I managed to scrape the pegs hanging off while riding the Dragon and the Cherohala Skyway.