I have the 'zuki crash bars on my '01 1200 bandit and they make a decent spot to plant your feet for a few miles.... it's just nice to be able to put your feet somewhere else for a bit when you're on a long haul... I'm hoping someone comes out with some 3-point guards for the '05 S3 so I can have the option on this bike as well.
Get some frame sliders. LOL. Seriously, I have them on mine and you can put a leg or two up on them for a minute or two which does help if you're on a longer ride. I'm sure it looks ridiculous... :-D
Get the front (by the radiator mounts) extended frame sliders from skyking and those would probably do the trick, although you'd look pretty funny with your boots kicked up in the air resting on those pegs. After riding to St. Louis and back I feel your pain. I didn't have so much trouble with my legs getting achey, but it would have been nice to adjust the footpeg location for longer trips where you won't be dragging them. I think I need a kit that'll let me adjust them back like an inch or something...