Dr.
I had the same issues when I rode my FLHRC in stock configuration. I have added a touring seat from HD (the seat is wider, so I sit higher, but the pad is denser so I don't sink in and pinch nerves), also added 12.5 mini-apes which helped me sit more upright instead of leaning forward. Lastly, I put on the adjustable rider backrest. It has a gas strut under the seat which allows on the fly adjustments with a lever.
BTW. I moved the lever from the left side, which blocked my hand from getting warmed by the rear cylinder on those cold mornings. I put out the front of the right side cover and mounted it there. My bike is black and the black lever blends well. I have only seen this mod on my bike an it works great.
Also, gotta have cruise control. I use mine every chance I get to keep the hand from cramping.
Good luck my friend.