Hi Mark,
I've always had exactly the same problem on duke' footpegs.
Not sure if there's a solution - I keep my foot in the same place still, as it just feels natural.
I just try to make sure the pegs are clean and dry before any play-time action.
Am looking at the rearsets route - but if I don't do that I may carve some type of grip on the end of the pegs with my Dremel.
- I guess its just one of those things with a Ducati