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Realist point of view incoming....
I don't think these ninja's are designed with 100% comfort in mind. In the end, they are a application of an entry level sport bike.
In support of good body position try the following;
1. You should be seated away from the tank about 1 fist back (3''-5'').
2. You should be riding with your foot in the proper position. balls not heels
3. You should be supporting your torso by gripping tank with legs
In this case, function trumps comfort.
As for you problem, rearsets (expensive), pegs (think thickness), foot and body position will help you get where you want to be on the bike. Leave no stone unturned. Even have a look at the thickness of the sole of your boot.
The tank burns? Hmm.... I have felt heat through my gear, but no burns. I hope you are geared up. If not (your choice), but find some shade or cover the tank for a bit before you hop on to begin your ride.
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