I have rubber inserts for the SWMotech footpegs on my '01 but I leave them off because the engine doesn't vibrate that much. It does vibrate more than my 4-cylinder, but less than either of my Honda twins.
I rode my '01 straight through to my dad's house a couple times and straight home from there more often. Each way is 1,025 to 1,050 miles (depending on route) in 21 or so hours. (Not rushing, just not stopping to sleep.) I never had trouble with numbness or vibrations. Some of those trips were with 15t and some 16t. All were stock piston.