I have sat on a Hyperstrada. It is not upright, nor can I double-toe stand on it. The bike is meant for someone over 6ft tall (like all of their bikes) and their foot controls are underneath you, not out front.
I have tried a BMW, too, and with teh optional shorty seat, it works. I will be getting a Kawasaki Versys, though, when the car's paid off. That will be my go to bike for any trips as it's completely an all arounder. Also considerably less than the bimmer (even the thumper 650).
I am definitely NOT the size motorcycle manufacturers cater to. I can only fit on the Kawa with the optional lower seat, barely. Still toeing it to keep it upright at standstill (just like my scooter). I have a 30" inseam, and depending how wide the seat and/or fuel tank is, that's not enough. I have a short reach, too, so I need to get handlebar risers to push the handlebars backward toward me. No, manufacturers of almost ALL bikes do NOT cater to someone that's of 5'8" height. The only style of bike I can sit on comfortably is a cruiser bike, and even then if they have forward controls I can't reach them and if the handlebars don't sweep back enough, I can't reach them when sitting upright. Nor do I want/need that style of bike anyway.