My good lady is 5' 6" with legs in the normal range for her height and is a highly accomplished rider - riding since she was 16, 7 years a riding instructor, commutes by bike every day and so on. She rides bikes that taller people than her feel uncomfortable with, suggesting that confidence has a lot to do with it. Once you get used to it, you will be fine.

However, tie bar kits to lower the rear are an easy option, should you not get used to it...

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