You should look at perhaps a Yamaha xt660x, not a full on motard as they are a bit heavy, but not too high a seat and good starting point i think.
Height can be overcome with practice, i'm only 5'5" and am going from a nice low 916 with an 82cm high seat, to a husky sm610 with a 92cm high seat.
Same as you i can only get my tippy toes down with both legs, but can get one leg down flat, trick is to get you bum off the seat and let the bike lean the opposite way slightly and you'll buy yourself several cm's in reach.
only down side is to reverse i have to get off it :P
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