I'm about as tall as you, and can sit on the bike comfortably. I can flat one foot with the other on the peg. Can't quite get both feet flat at the same time though. I didn't bother lowering it.
Now screw anyone that says this isn't a highway bike, or that it's just for getting around the city. The Zero S is simply perfect for highway commuting! I'm nearing 14,000 mostly highway miles with this thing, and it has been more capable than my previously owned BMW F800R. You have max torque and instant response at ANY speed up to 95 mph, without the hassle of down-shifting and building revs to get it. This bike can coast at around 60, 70, 80, maybe 90 mph. Although, overheating may occur on warmer days the harder you push the bike.
If you could find a better highway commuter, I would love to hear about it!