Apart from getting a higher seat, you can also add on lowering foot pegs from Motowerk. I use them and love them. They give you 1" more of leg room. See photo.

 

I second the Motowerk footpeg-lowering extensions. The roughly 1.25" extra room makes a big difference. Add the OEM higher sea, or even a pad like the AirHawk, and it'll feel totally different.

 

Add the OEM higher seat and install some adjustable rearsets, to be able to adjust them further BACK (and not lower like others mentioned - lowering your pegs will be hazardous when you lean for a turn, the OEM pegs are already very low).

 

The Motowerks pegs fit to the standard connections, so they will fold back if you happen to drag the pegs on the ground.They are definitely NOT hazardous as you mention.
I think the comfort factor in lowering the footpegs is better than rearsets. Plus it still takes an a lot of lean to drag the lowered pegs, so they are still my vote.

 

I had the Motowerk.com lowering peg mounts on my 2017 for about 1 year and about 4k miles and never had any issue with them scraping - I ride reasonably hard and the tires show lean wear out to about 3/8" from the edge. I think if you were on a track, you would not want the pegs but for normal street riding they are not a problem. And as mentioned, even if you do scrape the pegs, the pegs will still fold back out of the way, so it should not cause you to low side the bike. If you order them from the website you have to order them for the most recent Versys 650, and you should add the extended brake lever nut option. The higher OEM seat helps too, but it kicks you forward some onto your knees, so I got a lot more relief from the lowered pegs.

 

If you're scraping pegs on the street after installing these extensions, you are riding crazy enough for the scrape to be the least of your problems. When I see riders that crazed my prayer is, "May he end up in jail, and not a grave."

 

Anyone have a link to the specific Motowerks pegs?

 

Lowering Foot Peg Blocks for Kawasaki (Final Sale)

Product has been discontinued and is no longer available. Our Kawasaki Lowering Foot Peg Blocks were custom designed to lower the front foot pegs straight down by 1.3" (33 mm) and to improve the comfort of your ride. Please make sure to select correct Kawasaki model and year when adding the...

motowerk.com

As mentioned, they are listed on this site for the Versys 650, but that's what fits the Z

 

The Z650 is way small for you! This bike is for small people in the 5' 5" 150 lbs. max. If I were over 6' foot tall I would get the ZH2, seat height 32.7", 194.7 HP.

 

This is insane ^^^

 

taller riders are best served with a bike having forward controls IMO or a taller bike with more room. short test rides reveal little IMO!! checkin out a 22 anniversary yesterday + surprised to flat foot it @ barely 5-8 + 29" inseam + just setting on it felt smallish compared to my 18 T120 or 10 street scrambler triumphs. looking to move out my 2013 vic hammer, a great easy rider considering its 672 curb but felt lighter than the 100 lb lighter 2008 hardly porkster i traded on it!!!

 

I'm 6'3" and I did both the taller seat and the peg lowering kit. Feel less cramped and not too bad. After 3 hours on bike, my knees were indeed sore, but I have a pre existing knee issue. There won't be many mid sized naked sport bikes that anyone over 6'1" will consider roomy.