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I have a V100 and found the riding ergos to be problematic as well. Handlebar risers with adjustable setback made a big difference. I may also lower the pegs a bit, cornering clearance is not an issue, the bike is far more capable than the rider. kk
Guzzi offers a 1” lower seat for the V85 and the forks are easily raised with increments already marked on the fork stanchions. With a shorter shock you should be able to lower seat height by 2”.Pete