First of all, welcome to the site. I would be pleased with a 32inch inseam. Mine is around 29-30 and I'm 5'7.
I didn't have too much of an issue with the bike as it was factory. I only ever put one foot down and keep the other on the floorboard. I did send my seat to 'Mean City Cycle' and had it worked on. I was primarily looking for comfort but told him if it could be lowered any, without compromising comfort, to do so. It was lowered probably an inch, maybe more, but the other big difference is that he narrowed the nose of the seat, allowing an easier reach to the ground. I think this would be a good place to start.
2018 Road Glide Special. 12 inch 'Freedom' shield, Mustang seat, Harley tour pak, Advanblack lowers, Motolights, rear crash bars, Headset plug-in, Ciro footpegs, Black headlamp trim, mesh grill covers, Flash2open garage transmitter, buncha other stuff!!