I just bought a Sportster Custom a month ago that has factory foward controls. I had floorboards on my FXRP and swore I would never have another bike with them.
But I added Kuryakn iso stirrups to the factory controls and the comfort level is simular to floorboards.
I do have a 34 inseam though, so the forward controls on the Sportster is very comfortable. I could never get comfortable on my KLR650 with standard pegs.