My RG is a 2020, but we had the same problem. The bike right off the floor had V&H Power Duals and S&S Grand Nationals installed with a stage 1 flash. So, the cat was already gone upon riding the bike off the lot. I would bet the tune/flash was very off which likely contributed to the heat.
At stoplights, my fiancé had to prop her legs up on mine to keep from getting burned. And I don't mean a whiny "Oh boo hoo this bike is hot" kind of burn. I mean a physical burn on her legs. Even when moving the bike was very hot. We had never experienced anything like it. After a cam install and dyno tune, we hardly even notice it in the worst conditions now. It's now in fact the coolest running bike I've ever owned.
If I were you, I'd look into a dyno tune even if you don't plan on any more modifications. I think you'd be pleasantly surprised.
Good luck!