Don't be intimidated by the height. You'll get used to it. But a tall and heavy bike is something else.
I'm 5'9" 30" inseam, and just do one foot down on the f800gs. Unfortunately when it was loaded with gear and I was stopped on an unknown small sideways slope, there was no stopping it from going over. Oh well, no big deal.
Any bike up to 400lbs should be easy to manhandle around.
With all that being said. Make sure you buy a well taken care of bike for a good deal, ride it until you know what you want, sell it and move on. The worst thing you can do is pay wayyy too much for a bike that is in bad condition, hate it, and lose a ton of money trying to go a different route.
Current Bike: 2012 Triumph Tiger 800 XC
Previous bikes: 690ER/F800GS/D675/ CRF450RSM/GSXR750/XJ600