OK, I thought about this post on the way home and will give a serious reply in addition to my silly post earlier. Here's what makes it super comfy, stock, for me (I'm 6'2 with a 32" inseam so I'm kinda all torso):
You don't sit on your butt on this motorcycle, you scoot your butt back and sit more on your haunches--you don't really sit on this motorcycle, you kinda sit init. Let your back flex in the lower lumbar instead of hunching over. Keep your shoulders back, chest up, belly closer to the tank and bend at the hips instead of the waist.
Your elbows should be very nearly in line with your hands--with very little weight on your hands. To check on this, wiggle your elbows side-to-side, if you can't, you have too much weight on your hands.
To keep this position, keep the balls of your feet on the pegs, not the instep and squeeze the tank a bit with your knees.
Once you achieve this position, you just kinda settle down into it--the bike feels more stable, you feel planted and nothing hurts or goes numb. Honestly, it took me about 6 months to figure this out and get comfy, now it is second nature
I disagree with adding aftermarket stuff: I fear that adding risers or a different seat will push me more upright and back onto my tailbone, and that is not comfortable for a long ride.
If you have neck, back or hip problems, all bets are off....