I just had the 91573-09 stand installed. The funny thing about the stand is that the picture harley has on their website for the stand does not match the installation's depiction of the stand in Figure 2 of the instructions.
Mine does not hit the exhaust crossover pipe. However, it is close enough to make it difficult to get your foot on the arm extension to push down to lift the bike on to the stand and do not believe that extension is adjustable, only the leg height is. When you can't get your foot completely on the stand to lift, it makes it very difficult in that you have to pull back on the handlebars at the same time you're trying to push down on the extension arm.
Would be nice to take it off, heat the arm and move to a better position but I don't think the chrome will take the heat. It's a little easier to use when in sneakers but in my Harley boots.....very tough.