Not sure how a longer fork would make the bike fit you better. That is controlled more by handlebars, seat, footpegs and rear shocks. Get a shorter bar that does not pull back as far. That will stretch your arms out more. Slightly longer shocks raise the back up more to fit inseam better. Seat wont do much for you unless you were going shorter. You might find a set of forward controls to fit on but that might be a custom fab job but would stretch out the legs.
The ride IS the adventure. The destination is just to get gas!