I've been looking hard at both the Sertao and Terra. Ive only ridden the Sertao, but i have sat on the Terra. The Beamer ergos felt a touch better for me (6'3", can also get a taller seat) and also for my wife on the back. At this point I still lean towards the Beamer: better resale, better aftermarket support, better passenger ergos, better wind protection, longer warranty, and a longer track record (if you count the Dakar). Since my KLR was offroad enough for me, either bike will be an improvement. Wile the ABS aren't top notch, it's still a good feature for most riders. The Husky looks like a good deal, and is probably the better bike for local solo riding, but but for my use the points I mentioned earlier mean something. If you are in the Northeast, Max BMW looks to have some solid deals on their 2012 Sertaos ride now....some are offered at $8500, and I don't think the Huskies are at the point where there is much bargaining room yet.
'12 Sertao, '00 KDX220R '12 Tenere, '04 Tiger, '09 WRR, '06 DRZ, '06 TW, '01 250 EXC, '09 KLR