I think I know where you're coming from. I also think I can probably answer a lot of your questions as I've owned a Rocket and currently own a Thunderbird and a Tiger 1050. I've never once scraped pipes on the Thunderbird; not sure that's possible. You can, however, grind the hero pegs, curb feelers (whatever you want to call them) into nubs. I've scraped mine many times. That said, the TBird is a fantastic handling bike, for a cruiser. BUT, it is a cruiser and ALL cruisers have that same annoying issue for those of us from sport bike backgrounds and that's lean angle issues.
My tip to you is not to go down the path of trying to make a cruiser into something it's not. I LOVE my TBird, but there's no way I could ever be happy with owning it, or any other cruiser, as my only bike. Do yourself a favor and get another Tiger or get a Speed Triple or Sprint ST or GT. If you still want a cruiser, buy one of those too. If you buy used, you could get a Tiger 1050 and a Thunderbird for around $16-17K.