For proper Adventure work, what could be better than an actual ADVENTURE, as in 2006 KTM 950 Adventure?
And on the dual/sport front my old trooper '86 XL600R with 'a few' changes. This bike has been many things since I bought her new in Spring of 1986. A commuter, a NETRA Enduro bike, super motard, and now back to it's best role as a very competent D/S bike.