Scraping footrests on a new 950 bike coming out of the dealership means you are leaning a new bike on new tires fresh from a shipping crate that still have mold release on them which means you are way to aggressive which can easily lead to a nasty dump.
At least wait until more of the tire surface has come in contact with the ground and lost the mold release compound to give you some safety margin to quickly standing it back up to get the drive wheel off the slippery mold release area.
I rarely scrape the foot boards except in turns where the road is banked or crowned opposite of the lean or on mountain roads with switchbacks; however, in those cases, 650, 950, 1100, 1300 Vstars will all scrape. For those of us with short legs, it is scrape on a Vstar or tip toe on other cruisers.
IMO: If you are constantly scraping, your riding the wrong style bike for what you want to do with it because you aren't cruisin.