I had a 93 DR 650 and have ridden a few KLR and XR duallies. I have dreams of converting my 04 CRF to a Supermoto when the 06s come out. The CRF would be an incredible dual sport, but I don't know how the tranny would hold up.
My DR was a total pig, but I did get pulled over once for pulling the front wheel up...maybe 4 inches. It was a great touring bike, especially on dirt roads and jeep trails. It's more road oriented than dirt, which made my low-budget US tour very comfortable and economical. The bike was horrible for jumping or serious off roading. It weighed about 370 lbs, making mud bogs a frightful experience without a crane nearby. It got about 50 MPG and went 35,000 miles with no problems.
My father's XR 650 S was a much better off-roader than the DR, but its tank is a little small for touring. Dad sold the XR to get a KLR 650 for adventure touring. He said the bike was perfect for a recent trip from FL to Alaska.