I did a posting last year where I had made a lifting plate that also used the floorboard mounting bars to help lift the bike. It works really well and has no issues other than it tends to lift the front of the bike more than the back. I have since moved the read frame lifting points more rearward hopefully in a effort to help. If I was pulling the rear wheel I would have the panniers and exhaust remove and I'm sure that would change the weight distribution. It definitely keeps any and all lifting pressure off the bottom of the engine.
I also made a support that is adjustable and can be positioned underneath the crash bars right where they are fastened in the front. It is adjustable both in width and height, but I have only used it to completely stabilize the bike when it up in the air. If you look at the pictures, you can see the action of the lifting plate with the adjustable arms lifting on the floorboard bars. You can also see the adjustable support, I made, positioned under the crash bars for support. Those crash bars are pretty strong and well mounted. They certainly could be a lift point. As for the floorboard bars, they are more than adequate for the way I am using them in combination with the lift bracket. I don't know if they would take all of the weight of the bike.
I'm sorry, but I can't help myself... I am always cobbling up something for my bike and posting pictures of it on the forum. Members are probably getting sick of it, but teaching shop for 30 years is a curse and old habit die hard. I hope this helps.
As an additional comment, I do kind of like the Jack-Be-Quick plate I have seen posted. I might just buy one as a permanent mounting option as it appears it will work on the touring model.
Here is my old post and write up.
My R3 Touring lifting plate adapter
