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I ride a ZX9R, and I am 5'9". I touch with only the balls of my feet, but that has never proven to be an issue when keeping her upright. The only time more foot contact would be nice is when I am trying to back her up (she weighs more than the 6R by quite a bit). So my opinion is, no- you will be just fine. Have fun, and enjoy it!
-Dan
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