I use the BMW flat footpegs on my 22 TC and the Wunderlich lowered footpegs on my 21 Classic and Pure.
The footpegs also allow me to get my feet closer in when stopped, at 5'7" it helps a lot on loose surfaces, especially on the TC.
I've found boots with a lower flat sole make the footpegs much more comfortable, as the boot sits flat in any position and makes moving foot around easier.
The boots I've found most comfortable and flexible are the Gaerne Oiled Balance, it's a trials boot, also are great on the GS.
The armor is limited but that contributes to them being flexible enough for cruising

BMW Flat pegs, exchangeable with BMW stock floorboards
Footpeg Right 46 71 1 599 110
Footpeg Left 46 71 1 599 109
Spring x2 46 71 8 392 729
Pin x 2 46 71 1 540 776
hope this is helpful,
Dave