Hi.
Feel your pain bro.
My 99's vastly modified but I still take strong painkillers to make a ride bearable, my hips aren't the best these days.
I've owned umpteen different bikes over the last 40 odd yrs, Honda defo got the riding position way wrong when these bikes were designed, bars far too low, pegs too high, no way can a 5th Gen be considered a touring riding position without some major mods, 5th Gens are near as dammit the same riding position as CBR600F2 & 3's from the same era, which are considered a sports bike of sorts, owned an F3 for 10yrs so I know from experience.
For more comfort, many have junked the OEM clip on bars & fitted a top yoke mounted higher rise conventional bar setup of some type, this alone will sit you more upright, if you choose this route, do you're research, as many bar & mount combo's won't work within the fairing/cockpit area without bar to fairing contact.
I found a great combo that works well & looks factory fitted & not silly money either, if you want details of my setup, PM me & i'll share my findings & take some pics.
I no longer get the crushed Crown jewels syndrome due to being sat several degrees more upright, stomp grip or similar on tank sides helps massively under braking, grip tank with inner knee area, you should be using your legs to grip the tank cornering & under braking, unless you're going a t it Moto GP style with inside leg flailing around, WTF is that all aboot? maybe you're not used to gripping the tank under braking? but it's the recommended way apparently, read up on it, plenty vids around explaining pros /cons all about it if of interest?
Grippier seat cover might help restrict sliding forward, I prefer to take a smallish tank bag, hence I have a padded Bagster cover setup for tank bag to clip onto, gives some padding for comfort & protects tanks paintwork.
Not a great deal you can do with peg position, Sebspeed used to make some trick looking adaptor plates, which kinda mimic the better 6th Gen style, not cheap but they might suit? or fit some fugly peg lowering adaptor mounts, these are a bit crap at best, they screw up the foot to lever position push the feet out away from the bike somewhat, making it difficult to use the foot levers, bike's not designed with much usable lever adjustment range, OEM 5th Gen peg mounts plates are a complete cock up IMHO, 6th Gen is a way better idea, wtf were Honda thinkin, cleary thought every rider will be be built like a 5ft 3" 9st cowboy test rider .... most of us are around 200lb ish & 15-18st, shock spring is piss poor too, you need a 1200lb spring minimum if you're 200lb plus. 👍