I found a very good review of the X ADV. Not in English, but, with subtitles.
I have seen other videos showing the X ADV running off road and was curious about foot placement, as the floor boards are not long. This video shows add on foot pegs aft of the floor boards and apparently an accessory in Europe. I have often thought about adding them to my Sport and when I had my Silverwing considered them for that bike too. Even if you never road off road, it would be nice to have them for those rough potholed paved roads.On long rides you could more easily get your butt off the seat once in a while.
In one shot it appears that these add on footpegs attach to a bar that runs under the bike.

https://www.youtube.com/watch?v=RcygkFnYr-c