hi I felt the same as you at first but you do get used to it just make sure you are completely stopped before you put your foot down. My bike was new and the seat, tires and suspension will soften slightly enough to give you about 1 inch (25 mm) drop in height. At 10000miles I got a Lust Racing lowering kit 25 mm but found it softened the suspension, and chain tension was very critical it seemed to go to too tight to too slack very quickly. I have now gone back to stock setting. Regarding off road I am currently practicing very quick dismounts ie having both legs on the same side while standing on one peg as I come to a stop. Hopefully I will drop the bike less.

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XTz 660 tenere, adventure spec bash plate, main stand, skid marks tall screen, Oxford tail pack 36 litre. Kobra hand guards, Bigger cast footpegs, Zen overland luggage plate, USB power point, iridium spark plug, TKC80 f k60 R tyres, o2 and fuel Kev mods, DNA stage 2 filter. bark buster bar wieghts, Touratec side stand base and GPS mount. Led spot lights