I am also 5' 10" and had the same problem as you with my 04 RKC. I installed the Road King High Handlebars and it totally solved my problem. I would highly recommend them and the nice thing is that you don't have to change any cables. I had a motorcycle shop install them and before they tightened them down I was able to sit on the bike and get them positioned to where they were the most comfrtable. Good luck and ride safe.