You need somewhere between an inleg of 28 to 30 inches to comfortably and safely straddle the bike. An acquaintence of mine rides a VFR 800 and has a bit of a problem in that he has to think a bit when he puts his toes down but manages ok.
I am only 5'5" -- about the same weight...and I do the lean angle at the lights/ or tippy toes with both legs....you can lower it up to 2 in I think if the height makes you uncomfortable. You can also wear a pair of boots with a bit of a heal.
I'm 5'6 with a 29" inseam. I can't quite tippy toe, so I just lean a little to one side and single "flat foot" it at stops. I'm comfortable with that, and it's fine... Had the rear suspension dialed in for me.