6'4" in shower shoes here, and the FJR is close to perfect for me. Mine's an '04 and some issues are addressed in the '06, such as adjustable seat, re-angled windshield, adjustable bars, etc., but here's my take.
Seat height is fine. No problem reaching the ground or getting comfortable. The sporty-ish positioning of the footpegs cause me some knee pain around and after the 5 hour mark, but a quick Advil stop takes care of that and both knees have undergone multiple surgeries, so it's difficult to blame the FJR. But -- the seat itself SUCKS! Maybe 'cause the previous owner, who was about five-foot-nothing, did the electric-knife mod to the foam, but my first major upgrade WILL be a Russell DayLong.
Bar/grip reach -- this is SO user-dependent it's hard to quantify. I'm a knuckle-dragger so reach for me isn't a problem. I sit straight up and the angle relationship of the grips to centerline is just right for me. I do experience finger/hand numbness and tingling after as little as an hour of riding -- sooner in traffic -- but I've got to attribute that to carpal tunnel syndrome. I use my VistaCruise A LOT...and soon as I can wrangle the time, I'll install my Audiovox CC and retire the Vista Cruise.
After my first long ride...1800mi in 2 days back in September...I discovered I needed a set of these
as I'd sometimes slide back on the passenger seat, which place my heels way too close to
and made a rubber-based mess.
Find out more
HERE.
On a related note, check out this thread --
https://www.fjrforum.com/forum//index.php?showtopic=7758