I ride with clubmans with stock foot pegs.
6'4" 215lbs, and it is okay for awhile, but my wrist start killing me after a hundred miles or so. I find myself moving around a lot on the bike and changing arm positions. I do ride down the interstate with my elbows sitting on my knees, which is about the only way I can ride on the interstate, the wind tries and knocks you off..
I don't know how rearsets would help in relieving my wrists though, it seems like it would extend my body out farther away, and make the reach to the bars more difficult.. I don't know though, I have never tried them, they are too expensive for me to get, and I'm not crafty enough to make my own.