I'm about your size, and was dreaming about a GS a couple of years ago (either the F800GS, or the 1200). Sitting on both, I never really felt comfortable. Not so much the weight, but the height - I couldn't get my feet down. Mind you I didn't try the lowered seat / suspension options, except for the lowered seat on the F800GS, which was just passable for me. I recently sat on the Tigers at the motorcyle show, and had no problem with either the 800 XC or the Explorer XC. I'm now looking to pick up a 800 or 800XC this spring. Just my $.02.
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2013 Triumph Tiger 800
2008 Suzuki SV650n (Sold... I miss that bike...)