On a handful of occasions, I have seen people looking for mid-mount highway peg solutions. There really aren't any made.
That said, you can always put mid control setups and just mount the pegs on the mid-mount setup without remounting the shift lever, brake or rear master cylinder and just leave all that stuff mounted up front on the forwards. This is much easier to do on models that came stock with mid controls that were switched to forwards, especially if they kept their mid-control primary in place with the nub for the controls still sitting there. Some people have done so with success.
Issues arise with bikes that came from the factory with forwards, as there's usually no place to mount a mid peg on the right even if you could get a mid control primary for that model. I looked into that before, but there's no way to mid-mount a peg to the frame on the right side with the exhaust in the way.
I found having lowers helps (I mean something like Fork Fangs or Memphis Shades Custom Lowers). I also recently changed my mini floorboards mounting position. If you have pegs, you might look into and try some mini floorboards in place of the pegs.
Of course, it depends on the bike in question too, what seat there is as well. I'm 5'8 and my Evo has forward controls and I find pegs put my knees too high with the seat I have, but the mini boards I got from J&P, if I mount them directly without the adjustment arm, more comfortable (though was awkward at first). Takes some playing around.
I should also clarify that I wear leather over pants when riding and I use Harley boots. That helps keeping feet planted because the leather pants are heavy and don't whip or catch wind like some jeans can, and the Harley boots have heavy soles, also aiding in keeping feet planted. But really, just moving my mini boards a little bit made all the difference in the world (previously, my right foot wanted to get blown off, actually vibrate off more than being blown off).
