Hey there Jonathan!
Let’s start with 3 questions;
1. How do you support your weight on the bike?
2. How do you want to set your bike up? Comfort while just riding around town, comminuting or cornering?
3. Have you spend enough time cornering on the bike to find a spot in the seat where you are comfortable while cornering and not sitting right up on the tank?
The first question will address fatigue and other comfort factors no matter what ergo changes you make to the bike.
The second question will answer if you should go with clip-ons. Commuting = no/maybe, cornering = yes.
The third question will help to know if and how adjustable a new set of rear sets can help you.
Let’s take care of the rider first. Comfort on the bike begins with stability while riding. This task of supporting your riding weight should be done by the larger muscles of the body, ie the legs and core. Being “newer” at riding, it may be as simple you’re not supporting your weight on the bike with your legs and core. This is where tank grips can help and yep… many brands of mesh/textile gear are kinda slippery on shiny painted surfaces, making it harder to get a good solid lock on the tank.
Teaching a man to fish.
We begin with ergos by putting your knees on the tank where you are comfortable AND allow you to grip the tank sufficiently to ride loose on the bars. Do you fit comfortably somewhere on the seat? If so, this will be close to your “sweet spot” in the saddle and all the other ergos of the bike should be based on that location.
Now reach for the bars. If you commuting, do you want to lean over or do you want them higher to allow for a more straight up posture? If you're a canyon carver, do you want them farther down to help enable a more aggressive riding position? Make note that some riders buy clip-ons to get a lower, more forward upper body riding position and other riders buy full handlebars with risers to raise the upper body riding posture. Only you know what you want.
Now put your feet on the rear sets. Can you get your knee/legs in the same place to grip and support your weight on the bike? If you answer YES, then no rear sets are needed unless your ankles are at an uncomfortable angle, if you answer NO, then you will have to move your feet around to find a comfortable spot and estimate how much your pegs need to move and in what direction. Some rear sets are very adjustable. Others… not so much.
Finally, these two ergos work together to create an overall riding position that tilt the entire body mass forward, neutral or farther back. The trick is to find the combo that works for you.
The most common bike setup I have seen are;
1. Commuting = stock height (or heigher) bars and stock height or lowered rear sets (sometimes even more forward)
2. Canyon/track = lower, forward bars and higher, farther back rear sets