I'm 6' 3" and have the same feelings on my '06 FLHRI Road King. I've lowered my floor boards as far as they can go, and put higher reach bars on mine as well.
I don't think that I'm going to be doing any Iron Seat run's unless its an emergency that I take the bike!
Best thing that I've found, ride to a fill-up and get of and walk around some before getting back on and hitting the road.