few months ago I lower my bike, 2,14 inches... and I still don`t hit the ground... and I don`t sleep on the road. if you like race, don`t buy a xvs 950. maybe a sport or v-max is better than xvs950
theoretically, you can move the footboards with the controls (gears, brake) max 1 cm. on brake side a bit more and you with touch the pipe, you don`t want this, and in other side you will hit the engine with gear lever (I think this is the name).. also you don`t want this.
I see no reason in trying up the footboards but this is just my poor opinion. you have another option if you really want do this, search and buy or make a upper (hope this is correct word) for rear suspension, and put your suspension in position 9.
the reason on XVS950 have lower footboards is not the footboards, is the build of the bike, lower suspension on back. look at distance between frame and ground. if you don`t find any picture, i will try make some tomorrow.
if you still think the footboards are to down, up your front fork.. at the end you will have the most heavy offroad bike.