I have two methods to mount the bike, one with the top case or pillion, the other without.
Without passenger or top case, I just stand next to bike and swing leg over. I hit the side bag a few times before I got used to it, but it's natural now. If you are shorter and can't do that from the ground, do it from the foot peg.
With a passenger or top case, I do the same thing, but I put my leg over like the seat is a hurdle. I am not a very flexible person, so sometimes my boot scuffs across the top of the seat, but it works. Again, if you are too short to do this from the ground, do it from the side peg.