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Use a rider's backrest. That keeps me from slouching and getting the pain you're talking about. Some adjustable klip hangers or some kind of adjustable bars could help too.
It did for me. I wasn't a fan of mini apes, but my Dyna already had them on it. Before I rushed to change them out, I rode it for a while and decided that I like it. So much so that I bought 12" KST bars for the SG and I'm a happy camper for long trips. Everybody's geometry is different, so you may not be the same, buy my shoulders and neck are happier with 12" bars.
I had a pinch pain between my shoulders and my upper back was bothering me. I started with a bit bigger bars, but ended up with 12" meathooks. The pullback and wrist angle were the two main facots with my pain. Reaching forward doesn't help.
Some dealers have a fitment person who can help you figure out what you need. Great thing about your '20 is the bars are a breeze to replace (wire) at home.
For me is a 12" spot-on, it keeps the pain away in my neck and shoulders. Need to do the swap on my SGS soon, have the bars before I had the bike but it is "plenty" of work on a SGS.
Bringing the bars closer to me did more for me than raising them.
The stock bars on my 2021 Ultra-Limited didn't cause neck or shoulder pain for me but the wrist angle made my thumbs, and eventually my fingers, go numb and I felt like I was leaning slightly forward to reach them. If I relaxed my arms and let them settle to a natural position my hands would be 1"-2" short of the grips.
Next, I tried H-D Tall Boys and then LA Choppers 10" Twin Peaks. Both had a better wrist angle but neither had enough pullback for me. (Apparently, I have shorter arms than most riders) Except for the wrist angle, the Tall Boys weren't any better than the stock bars and the Twin Peaks immediately started causing pain in my neck, shoulders, and back because they were so far forward. (I had them pulled back as far as they would go without hitting the tank)
I finally tried the Khrome Werks 2+2 Narrow Sweepers and found my sweet spot. The 2+2's place the grips 2" higher and 2" closer to the rider. Now when I do the relaxed arm test my hands are right at the grips and at the correct angle.
For me, in both of my HD's (2013 Dyna Switchback, and now a 2022 HD Road Glide 107), the bars were pitched too inward and placed a little too low. Liveable, but not ideal. In both cases, I went with 12" bars as this puts my hands just below should level height, but the big thing is the pitch of where your hands grip the bars. Of course this assumes that you seat distance to the bars works for you. As others have mentioned, moving the bars more aft (towards) may yield great results too.
12" mini apes on my Road Glide made all the difference for all day riding. With the stock bars I felt I was hunching over and then looking "up" to ride. This caused all sorts of neck and back pain. With the apes I can set the cruise and put my arms up on top and stretch out. Or ride with my left hand and kinda lean back. One thing that I tell everyone, you need to be able to change positions, hands and feet. This eliminates pressure points and for me overall fatigue. Even if you feel fine, change position at least once an hour, keep the blood moving, good luck.
I found, for me, 14" on 2" risers helped the arms and wrists.
A rider backrest helped tremendously with back fatigue.
I was amazed how much strain I was putting on my lower back while riding that I didn't realize until I got the back rest.
I think this is going to vary quite a bit depending on what issue different people are having with their shoulder, neck, and back. I had a lot of trouble with the stock beach bars on my softail when I got it. The backs of my shoulders and lower back were killing me if I rode for more than an hour or 2 on it. I got a new Corbin seat and 10" mini-apes on it and my problems were gone. My new Road glide feels pretty comfortable to me even with the stock bars, the stock seat was awful so I replaced that with a Corbin. I I would just like nicer looking bars(KST, or something similiar) but it's not pressing for me.
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