Mine were ground to nearly halfway with stock setup. My ZXR footpegs have had to be raised 40 and back 20 and I still hit the ground with them, just not as much. It also depends on how you ride the bike. Some people use lean angle more than others (depending on how much you hang off, approach corners etc). My Dad hits the footpegs on my bike more than I do and I am lapping about 2 seconds quicker (until he comes out and decides to have another go). It's a comfort thing as much as it's a ground clearance thing. I quite liked Andrew Adlams set up which had the footpegs very far back and up a reasonable amount too.
Just make a steel plate with 6 holes in it. 2 for mounting to frame, 2 holes that are 20mm back and 10mm higher, 2 holes 20mm back and 30mm higher (or some variant like that). You will need to make a new/longer gear shift linkage too.
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