This is just the way I do it. The bike sitting there on the sidestand. Wife gets on. She grabs hold of the handlebars and just sits down on the passenger seat. I put a leg over the seat and stand the bike up and away we go.
Same here I can barely feel when my wife hops on(maybe 115)!! But I do feel more secure by getting the bike up-right & warmed up for few minutes prior to the better 1/2 getting on .
My wife does not step on the floorboard. She stands beside the bike with a hand on my left shoulder then throws a leg over til her butt hits the seat and puts feet on the boards. She is 5' 7" . The motorcycle training manuals say upright off the stand in neutral looking forward both hands on the bars with front brake.