It's been a while since I replied to this thread. At the end of June last year I got around the pegs being to low by ordering some of the M-Factory 40mm adjustable pegs. The pegs I purchased for a Buell XB.
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The peg mounts tabs are closer to each other on the Ulysses than the R/S rear sets. So I ground the new blocks down with an angle grinder until they fit smoothly. I believe it was about 2mm I had shave off.
Instead of putting them in the dropped setting I raised them. Since the Ulysses rear sets dropped 3" over a stock XB pegs. The 40mm pegs raised the pegs 1.6". So overall I wound up with a 1.4" drop where I had 1" drop pegs before.
You'll notice the rear brake lever had to be changed as well. I went to the hardware store and bought a 1" extension nut. The extension raised the lever into adjustment range.
The shifter lever needed only minor adjustment since it's mounted to the primary cover.