I have had all 3 options. I am now on a KLR and I can tell you that the KLR does everything well. If you want a bike that you can go anywhere, get the KLR. Had a BMW....too expensive to fix.
I mostly commute on my bike 50 miles a day, some hwy. and some backroads. It does good off road also with the right tires. The DR is better off road but suffers on the highway. (my opinions).