It is not very difficult to grind the pegs on the Warrior....in fact it is not very difficult to start grinding the peg mounts and the frame either.....especially when/if you are used to the lean angle of a sportbike or a sport touring bike. I let take my foot off the peg and let it fold, while I hold my leg forward ala supermoto, but still have a very small strip in the back. You really don't want to push it too much with the Warrior. The day that I finally retired my Warrior from canyon duties, I was fully leaned over in a corkscrew and and I hit a small bump and the frame/peg mount area hit the ground and threw the rear end off to the side.....definitely a sphincter shrinking situation. Bottom line, if you wanna chase other bikes that are not cruisers,get a sportbike...it will be much less "dramatic."