Ok . First of all check your tyre pressure like others have said ,, I own the rocket tourer and am 5' 7" and a HALF , bit heavier than you , but any way still a short arse .
So start with the risers from rivco , i put them on mine mainly because i have a crook shoulder and get sore if i'm leaning on it ,, but the risers bring the bars back and fit perfect ,,
Seat, i had my standard seat , shaved and scooped out , the guy who done it was vert impressed with the amount he could take out and still keep the seat comfy ,, But i then bought the longhaul seat with back rest , and found that one more comfy and better because it sits you closer to the bars ,,
The bike was still to big for me , and i stuggled when in slow manouveres just like you , Its no fun a 400 kilo bike leaning o0ver when you can't reach the floor properly so
I bought the progresive shocks that lowered the back 30mm ,
I then dropped the bike through the triple tree 20mm to help even it up
End result with the sitting position , and bar position , i can and have regular done hundreds of klm in a day , and been on 7-10 day rides covering 5-6000 klm, and been comfortable all day .. The bike fits me better and is a lot easier in the tight stuff , lowering it gave me a lot more confidence ,, with saying that , its still a big bike and you have to be aware and think about what your doing , but its managable ,, my advice is lower it with the shocks and triple tree , , put the risers on if you feel you need them , and then ,,, just ride and ride and ride ,,
Getting used to it just takes time , i've always said there a big bike more suited to a big man , but us small men can do alright on them if you think about what your doing ,, The more you ride it the easier it becomes ,
Good luck with it ,, but when you do the shocks drop it through the triple tree , to even it up