Either the SV650 or a DL650 (V-Strom) would fit the bill perfectly. You can get big luggage and pannier racks for both, making them very practical for carrying lots of things, I can easily do my grocery shopping on my V-Strom.
V-Stroms carry a bit of a price premium, but can still be had for $4k if you don't mind some miles and don't insist on getting a newer ABS model. I would say it's quite a bit more comfortable than the SV, much more upright with nice wide bars and tighter turning radius for easier maneuvering.
SV650s you can regularly find for $3k or less, often with VERY nice modifications (GSX-R front ends are VERY popular and completely transform the bike!)