If you want only gentle off-road ability you can afford to look at twins. They will be heavier than singles but probably smoother on motorways.
If you want cheaper look for an older Transalp 600/650. I'm 5"9/10 and I can comfortably put my feet flat on the ground on my XL600V. Africa Twins will be too tall. Certainly, for my part, I'm very happy with my TA. It's almost 17 yet will start at the first push of the button!!
The new Yam Téneré is also said to be a very capable bike in many respects despite being a single.
Otherwise, a second hand or new the DL650 V-Strom. Finally, if you wallet can stretch you have KTMs or the BMW 650GS or 800GS to look at.
Your best bet is simply set yourself a budget and then sit on and, ideally, test ride any and all bikes that you can afford.
Adventure: it's an experience, not a style!
(so ride what you like, but ride it somewhere new!)