Originally Posted by markk53
Simplest lightest bike that will do the job is the trick when it comes to ease of touring that involves serious single track and unimproved roads, getting in rutted root crossed paths, and other crap.
If you want to make it some challenge to prove either that you can do it or that you're just plain foolish - or both - then do something goofy like some have mentioned.
The OP asked about touring on pavement and hard-packed gravel roads. You can call standard motorcycles foolish if you misinterpret the question wildly enough, but it doesn't really address the question.