I too don't like the cruiser position, but I also don't like the sport lean. I'm 6'3" and the OEM position bent my knees and hips so much that I couldn't ride even one hour without stopping to walk it off.
Since the foot-pegs are fixed in place, you must first position your butt in a place that suits your legs, then position your hands in a place that suits where your shoulders end up. So, here's what I did:
My '01 came with Helibars already installed, but set as low as they could be to suit the previous owner. I raised them to the highest position, which was a great improvement, but my legs still burned.
After a couple of tries, I found a Russell Daylong seat for sale locally, so I took it for a test ride and brought it home. It moved me far up and back enough that my knees actually didn't contact the fairing.
Of course, that improvement rendered the handlebar no longer high enough, so I replaced the stock bar clamps with 3" risers, which once again allow me to sit upright and comfortable for an hour or more.
Note in the first pic how thick the seat is, as well as how wide, flat, and
not tilted forward it is. Also note how high the grips are compared to the shape of the fairing. My legs have no complaints now.
In my opinion, another long-ride must is a set of highway pegs, which allow a different part of your butt and thighs to bear your weight and allow the blood to circulate better, minimizing numbness.