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I asked the same question a few months ago when I was looking to replace the factory 190/50 Dunlops. I replaced them with a new set of 190/55 Dunlop Q2 tires and they fit fine with the stock gearing on my 2002 RC51. There are no clearance issues and the higher profile tire does make a noticeable improved difference in how the bike handles and feels.
 

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changing to a 55 profile improves the handling slightly, so does adding a kyle link. but would doing both at the same time not raise the rear too much and mess up the handling?
 
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