If your bike is stock, then maximum torque is at 2800 RPM, or 70MPH (real speed - it will show about 75 on the speedometer). Theoretically that will be the engine's most economical touring speed. However, wind resistance
etc means that about 55-65 will probably give you the best economy. I usually cruise at around 2800-3200 rpm. Having said all that, you have about 90% or your torque from 1000 RPM to the red line - it is a pretty flat curve.
Therefore the revs that you are at for cornering is not as critical as it would be on a sport bike with a narrow power band.
There will always be a little bit of petrol left in an empty tank. Why would you want to get that low anyway? It is a heavy bike to push. Also, the fuel helps keep the fuel pump cool.