If you don't have a lot of cash, consider a seat mod.
1) the foot controls are pretty much fixed unless you go with the Jardines.
2) you can rotate the handlebars some forward/back, but the more you move them the more the height will change as well. You can also (if this is a problem) replace the bars relatively cheaply (<$50 for 3/4 inch aftermarket bars on Ebay.
3) given these two factors, the easiest thing to do may be to move where your sitbones hit the bike. If you move that point backward and upward, you should be more comfortable. You could try moving the seat to get your legs comfortable first, then rotate/replace your handlebars to make your back straight and arms relaxed.
There are a lot of custom seat threads. But in a nutshell, you can always remove your seat cover, buy $20 of marine vinyl, repad the seat accordingly (I got some old couch cushions at a thrift store for the foam), and staple the vinyl in place as a new, buttonless cover. While your at it you can widen the back seat pad an inch or two to be more comfortable for a passenger. As an aside, with just the widening of the seat for her, my GF and I are now very comfortable two up, but she and I combined don't weigh more than 260.
MF Battery, Iridium Plugs, RR relocated, Voltmeter, 170/80/15 Kenda Kruz rear tire, DIY Samsonite hard bags, DIY shaved seat with Beaded seat pad ('cause that's how I roll) and the dreaded STATOR CHANGE.
Shining Black Bess '86 VN750, retired for parts after a fried stator and being knocked (kee-runch) in her parking spot.