Your foot or the pegs/ peg feeler things? Need to ride with the balls of your feet on the pegs!
I used to grind my boots cornering on the Triumph Explorer, so did other people. Something very wrong with that design if you're doing that on an Adv bike!
Definitely my foot scraping. For more years than I can remember, as I approach a set of twisties, my feet automatically move into attack position. Too many times of feeling a foot scrape as I improved my skills in the curves. Eventually I learned where to position my feet, and that repositioning became an almost involuntary motion. Sometimes I'll notice my feet just moved and I realize, oh look, here we go.
The Goldwing in Sport mode is remarkably close to the engine performance of the big KTM. I'd say it's very, very good. Riding aggressively with that amount of weight is surprisingly easy. No doubt it takes more grunt to shift it from side to side, but Honda has done a fantastic job in the design, and there is little to no intimidation due to the size. The mental part I'm still wrestling with is the limited lean angles. I know how I keep my feet when the road curves, so if I'm feeling pavement, the metal can't be far away.
For all you airplane pilots out there, I see scraping a motorcycle in a curve the same as I see ballooning when putting down the flaps on a C-172 on a downwind leg. As my instructor told me, 'if you're ballooning, you're a passenger, not a pilot.' If I'm scraping hard parts, I'm not in charge. I may be alone in that opinion, but nothing new about that.
One difference between the big KTM 1290 and the GW is impact of throttle movement. The 1290 is definitely faster, but I've always said the 1290 is as gentle a kitten and will never surprise you. The GW ain't no kitten, and if you haven't made the mental shift to the more responsive throttle, it can definitely surprise you. It's all good once you get your head back in the GW Sport mode way of thinking, but I'm glad I'm comfortable with massive power delivery. Otherwise, it could startle the unsuspecting.