I'm 5'7" with a 30" inseam, and ride a DR650 with the factory lowering option. I can flat foot one foot, or touch toes down with both feet. At stock height, I had to lean the bike over to get one foot down flat, so it is much more comfortable for me at the 1.5" lower height.
It is a great compromise bike. It can run 75 mph all day long, does awesome on forest roads, even when the going gets a little rough. And it can handle some pretty rough stuff, you just need to be aware that it isn't a 200 lb. dirt bike, and slow down accordingly...
2012 Suzuki DR650SE
2010 Kawasaki KLX250S