I don't remember having the problem on a CB750, but it was common on my two BMW R100RS', my K100RT, and K1100LT. (I can't remember if it's a problem on my K100RS, it's been 4 years since I rode it last) As Spotty's mentioned, foam grips are the go, but if you're worried about originality, you can get some foam tubes that pull over your OEM grips, called "Pussy Grips". I've got them on my Yamaha FJR1300, and they helped on the 400 mile each way runs from Canberra to Melbourne and back.
The zip tie cruise control is also a great trick, because once again, you can remove it just by chopping off the zip tie after a long ride. The benefit of the zip tie cruise control is that you can set it, take your hand off the throttle and give it a shake to get rid of the pins and needles. And just like me, zip ties are cheap.........