I started to use the mounting by the peg method, after I fell from a ladder and smashed my left heel bone and damaged the talus joint. I could not ride for 5 Months, but when I started back, it was painful to mount up, due to not having any movement in the joint . But one day I was out with a friend and saw him mount his Triumph by just by putting his left foot on the peg and cocking his leg over. I thought if it can take his weight then my GS should take mine, so I tried it and bingo. It makes it so easy to mount and dismount I always use the peg now. I'm only 29" inside leg and I mount up faster than a fast thing.......
I can walk up to the bike put my left foot on the peg and mount up almost without breaking my stride. Try it you won't go back to your old method.......
At 6ft tall you shouldn't have to do that. Remember, the position of your other foot relative to the distance and position from the bike also matters.
When you are mounting, ensure that you have the side stand down and then determine which position works best.
I lift my right knee over the rider seat and then with my right hand pull up my feet by the ankle while assisting the feet to glide over. Same for a dismount. Works elegantly.