BMW G650GS. They make a "Low Seat Height" model. It'll handle better for a shorter person than the slightly-tall Vstroms. It's also very affordable and the amount of accessories and options for BMW adventure bikes rival Harleys. Perfect pack mule bike and it'll fit you well, as long as you aren't trying to break speed records (which it sounds like you aren't) you won't outgrow it.
BMW dealerships are super lenient about test rides too, go ride one. Thank me later.
2013 BMW R1200 GSA Adventure Triple Black.