Maybe try to get hold of another F800, get it over to your fabricator for "eyes on" assessment ... or at least make good measurements and photos.
With H/B racks and boxes in hand a good fabricator/welder could probably make it work but would be nice to consult BMW's original design ... in person ... before you try to make it better.
Perhaps take the opportunity to "custom" fit those pegs to suit your Mom? Now is the time to do that ... as you don't have to follow exact F800 template. Many pillion pegs are set up too high or are too far forward or too far back.
Good luck ... and best of luck to you and your Mom!
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