My peddles touch, too,and I don't even have to lean in much at all. My bike was initially a road bike. The cranks are 170 mm, ugh. To make matters worse, my peddles are quite long.

Doing tricks, such as steering with feet, can be tricky, as falling from such a position wouldn't be easy to bail from.

I have one ever so partial remedy, but I cannot speak for your safety, unless it is done correctly. Chances are this issue has resulted from using a road bike which has vertical dropouts; so, you could gain a 1/4-1" by using a dropout converter and solve the chain tension problem in one go.

BUT! You must install it correctly, or your bike will be even more dangerous! That may involve welding, so it doesn't move.

I haven't done this yet but am still thinking it over.

Just an idea.