DS by it's very nature is a compromise. You can have a serious dirt bike that is street legal (Husky TE-250), and eats dirt, but truly sucks as a street bike. Some go the other way, better for pavement. It all depends what you want.
To me, I look at something like the KTM 640 Adventure as about the perfect adventure bike...if you can deal with riding a two wheeled paint shaker. Imagine that bike with a well balanced single. Other than that, handles single track, big tank, lots of range, etc. Yeah, droning on the highway sucks on all
thumpers. Again, you have to compromise for the intended use.
Service manager Gary at San Diego BMW won the Alcan 5000 a few years ago on his 650 Dakar. Rode it there and back from San Diego too. That is obviously a pretty capable bike as well, though I don't know how much single track I would want to do on one.
Endless debate on this subject.