5'6" here too (on a good day) and cannot flatfoot. Here's something I do sometimes when reversing up a slight incline:
Link to original page on YouTube.
I've also recently mastered the kickstand pivot (hint: stand closer to the fuel tank/engine side since that's where most of the weight is; also use your leg for extra help in lifting the bike). Very useful for getting out of a somewhat tight space or just my garage.