If the 800 is beyond your means ,then a used VStrom should just about tick all your boxes .Ground clearance will be the only potential problem ,but a raising kit and an upgraded suspension will go a long way to help .
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Blessed are the cracked, for they let in the light. - Spike Milligan
"When you come to a fork in the road ,take it ! When you come to a spoon in the road ,take that also ."
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