I have one. I'm 178cms and I can't get my heels down, but I get the balls of both feel down with no issue. It's not top heavy like the Tenere or Africa Twin, so it's not too intimidating.
It's the perfect height for me at 185cm. I can flat foot it, but the seat is still touching my nuts, just the way his divine noodly appendage intended it
I bought a 2021 v85 brand new and put 12000 miles on it in a year. It was an amazing bike and fit all my preferences. The only reason I sold it was because my dealer was terrible and Moto Guzzi support in the US in general is less than amazing. A bad steering bearing turned into a top suspension plate that was so crazy over tightened from the factory that they had to cut it off and they had no idea when a replacement part would be available. Wish I still had the bike honestly but at the time it just made more sense to sell it.