Hi Fredmag
I just got back from an 8 day, 3000 mile trip on by 2nd gen 600. I have Kappa bags (similar to Givi, with the same ugly mounts). They sure are convienient, but really let you take WAY too much stuff. You don't feel them at speed, but do as you leave parking lots, etc.
I have no issues with hands cramping, but based on my former dirt bike racing experience, I keep a very light grip on the bars, and in fact normally "cover" the front brake lever with one/two fingers all the time I ride. You don't really need a death grip on the bars, normally just squeeze harder with your knees in the bumps and technical stuff (unless your hanging off).
I use a sheepskin, and I find it helps reduce the chaffing between my thighs.
As for bars, I'm 5' 11-1/2" and 185 lbs, with 33" sleeve, 32" leg inseem and find the stock bars just about right. Try rotating the bars a little forward and backwards taking a short ride each time, as mine are NOT in the stock position. Also, make sure your levers are "in line" with your arms when your fingers are on them in your normal riding position, so your not reaching up (the most common mistake) or too far down, as this leads to wrist cramping and arm pump.