I appreciate all your responses. I checked with J&P, Dennis Kirk and others to find a shorter and possibly narrower set of floorboards. A set of half moon shaped boards from Battistinis looked promising, but they are just as long as stock (12") and are mounted on center, meaning it would actually move the board rearward from the stock mount, which is offset to the front a little. I could not find a smaller footprint front stock that used the stock mounting hardware. I did see lots of passenger mini boards that would work great, but I am not sure how to fit those to the current application.
I will check with the dealer when I go in for the 1,000 mile service. Perhaps they have some ideas. Other than that, I will just have to adjust my riding style like previous posters have mentioned. I will also do a little practice to better define the limits. No sense in worrying all the time.