Sorry if I came off a bit pointed there.
No offense taken. It's not like we're talking about motor oil, here.
On the bikes I become a control freak. Anything that can control the bike I want at my disposal as quickly as possible, including rider stance.
This is totally understandable. Using highway pegs, you've got your weight in a strange place, your foot off the brake, and your foot off the shifter. So it's a calculated risk.
I rely on a 12-second lookahead to decide if I should move my feet back. And I do so if there's an increased risk in that timeframe. And if I can't see that far, my feet are probably on the controls.
On the plus side, the most important controls are still at your immediate disposal.
But if it's a clear road ahead and it's a clear sunny day, I take the risk.
If one does have highway pegs, I recommend practice swerves while using them. At least for me, the control feels a bit different.
Not for me, I wont give up control for comfort.
There is a point, I might argue, that lack of comfort impedes safety.