Good luck with this one. I do not think you will find the bike you want. Perhaps the DRZ.
Learning to ride off road in the conditions you want to try begs for a small bike. Like a crf230f or similar. Learning to ride in the dirt on any of those bikes you mentioned is going to be hard work.
I think the drz would give you a taste of both worlds but would work well for neither. I had one and put 12K miles on it. It was a great bike. And I learned to ride the dirt on it. It got more dirt worthy with new tires and lower gearing. 100 miles on the freeway would be a killer with those changes.
I think you will be headed for 2 bikes like the rest of us.