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I ordered my 2010 with the lowered pegs. I got these: http://www.suburban-machinery.com/R1200RT.htm . The dealer put them on for me and for me they are a big improvement over stock. They fit perfectly and look like original equipment.
I have the Suburban kit on my 07. Under the assumption that it will be the same on a 2010, you use all the original equipment. The kit provides a machined part that lowers the original pegs. You will have to adjust the shifter and brake pedal. Neither is hard, but my brake is at the limit of it's adjustment range.
I know the dealer did this for you, but did they have to replace anything other than the foot pegs?, like the shift lever or brake pedal ?
I have the Suburban kit on my 07. Under the assumption that it will be the same on a 2010, you use all the original equipment. The kit provides a machined part that lowers the original pegs. You will have to adjust the shifter and brake pedal. Neither is hard, but my brake is at the limit of it's adjustment range.