Now I have been using TwinPegs for a couple of years. And I must say that it is one of the best things I have done with my bike. A lot of strange things are bought for a GS and other adv bikes, not many things will increase driving comfort such as TwinPegs. I drive 95% on gravel roads and the benefits TwinPegs gives me are great. I stand steady, I do not get tired in the legs, I get better control when driving on loose ground. A heavy bike becomes easier to handle with less force. I can stand driving for several hours without getting tired in my legs. And I would say that security is increasing. When accelerating, you have support that prevents you from getting stuck in the handlebars. And they have never been an obstacle in any way.
I have and used TwinPegs on a BMW F650GS. This is a lighter bike, and I think the benefits of TwinPegs are at least as great on a small bike.. The same benefits, in addition to the fact that a small bike will seem more stable with TwinPegs. (I have now sold my 650) If I buy another bike I MUST have TwinPegs on it too