You can add more seat padding to raise the stock seat higher, and handlebars with less pullback, to make a smaller bike fit a taller rider better. Sometimes aftermarket footpegs are available that relocate the stock footpegs along with relocating the shift lever and back brake pedal, especially for sportbikes.
I am not a fan of highway pegs to stretch your legs, because you lose some time for getting to the back brake at the start of an emergency stop. I sometimes move around on the seat and briefly stand on the footpegs once in a while to keep my legs from getting as stiff. For an occasional long trip, I like to take extended release ibuprofen or acetaminophen tablets (Advil and Tylenol are the more expensive brand names), designed for people with arthritis. I think it is wiser to stop more often, before your gas is almost gone, and instead of getting more tired from fewer stops. A tired person on a long straight boring road is more likely to daydream and make mistakes.