Every visit to the dealer, I ask them to fix them. They actually made them very loose this last time.
I saw they were loose when I was picking it up, said to the service guy "Just go ahead and have the tech throw on a chrome bolt kit, I'll wait." He went away, came back a few mins later "Uh, the tech says there is no chrome bolt kit." Got so pissed I walked over to all their chrome bullchit, pulled the 'Chrome Footpeg Bolt Kit' off the wall, paid my $22, got on my bike and left. HD Service biting it as usual.
The thing about the kit is that you still have to use the spring washers. You put the bolts where the pins were and tighten them to about 90 ft-lbs before they start putting stress on the footpegs. Aften tightening the hell out of them, the pegs will basically not move unless you apply significant force.