the R6 is a supersport lineup, that is how it's designed.
You would probably do better with a FZ07, as it's a sport bike, but not geared up for racing stance.
If that is still to much, have to go full sport touring bike. This is what I used to ride. Looks like for yamaha there are two options, an FJ09 that is more plain, and a fulled loaded FJZ1300