KTM do aftermarket rally pegs, which fit the adventure and make a significant difference if you stand on the pegs. I have fitted them to my 00 Adv and am happy with the result, although it did require changing the bracket for the left footpeg.
These are slightly longer and wider than the stock part, although you could make the same by welding on some more metal around the existing footpeg.
I don't believe they come with the rubber insert.
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