I'm 5'9 and weigh about 175 lbs. I have a Baldwin Saddle that is higher than stock and I can Almost put both feet flat on the ground with the Baldwin Saddle. I have no difficulty riding my Concours low speed. I do a lot of long distance riding where I load up the bike with camping gear. I find that my heavier 2011 Concours is easier control at low speeds than my 2000 Concours.
But the best thing I ever did for my riding was taking a class.
http://www.ridelikeaprowestcoast.com/ offers slow speed riding courses than helped my riding (both parking lot and at speed) tremendously. Their basic course is a modified version of the Motor Officer's course. Its is designed to teach you how to control your bike at slow speeds. They also offer an advanced course which is modeled after the actual course that Motor Officers need to pass. It is basically the same course. And let me tell you.... it kicks your butt! We *try* to do in a day what Motor Officers learn in 2 weeks! What you see in the Police Rodeo videos shown above is what they teach us. After taking the advanced class, you know the techniques that officers use in order to perform like the videos... you may not have the skills but you know the techniques. I may not be able to ride like those guys, but the skills I learned make me very confident on a big heavy, loaded down bike.
I personally take 1 riding class of some sort every year... I treat riding like a Pilot's License. I continue to learn, refresh my skills and practice. It has made me a much better rider.
Jose Soriano