I have certainly noticed this in the few miles I have ridden the RIII and wondered if the foot plates would not solve this allowing the gear and brake peddles to stay in place. I also often get my feet muddled when switching rides between my FJR and RIII Let me know how you get on.
The problem with the rearsets is the driving position with the stock seat.
The knees are too high and the attitude is uncomfortable.
Have a look on this for example :
The palatina has much more seat height that the stock Rocket to fix that problem but the driving position is still not the good one.
I think that the driver is sitting too high on the bike for good handling.