Unfortunately, your pic displays poor body position. You're so crossed up, it's no wonder you're dragging hard parts. Frankly, I'd be surprised if you said that you've never lowsided or run into other similar issues.
Dragging pegs is of course fine, but dragging hard parts is very dangerous. When this happens, it can lift the rear tire and of course bad things happen.
As Keith Code says, the more YOU lean, the less the bike is forced to. If you scoot about a half cheek off the seat (in the direction of the turn), and follow through with your head like you're supposed to, the bike does not have to lean as severely for the same turn & speed. The more you practice proper riding position, the faster you'll be able to do this exact turn with less lean angle on the bike.
2012 HD Road Glide Custom - Black denim