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There's a couple of things you can do to try & improve your confidence on the bike.
You can avoid coming to a complete stop by timing your arrival at the lights & rolling slowly up to them if you have to (not really the best idea to practise in traffic), when you have to stop left foot down & flick the bars left to full lock, the bike will naturally lean left. To take off again point the bars forward & go, the bike will stabilise once it's moving.
I'm 5'7 with a 28" inseam & I can handle my mate's F650GS (which has a 33 inch high seat) without much of a problem.
Welcome by the way
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