I have a 2006 Stratoliner S and I am 5'10" with a 30" inseam. The bar reach is not a problem for me and I also do not have a problem with the clutch or brake level as well. The Stratoliner will seem a reach at first, but after a few rides it will feel natural. In fact, once you get use to the Stratoliner bars other bikes bars will seem cramped.
The Strantoliner S is my first Yamaha and I can attest that the fit and finish on this bike is by far the best of any bike I have owned, and I have owned many, including Honda, BMW, HD to list a few. This price you are getting on your 2006 is a good price. I just purchased a pre-owner 2006 with 1,800 miles with an extended 4 year warranty and I paid $14,000.
You will not go wrong the the Stratoliner. It is a great bike.