Modern bikes are for chumps. Consider one of the "big three" dual sports, the DR650, XR650L, or KLR650. Among those three the KLR is the most adventure-y, especially in its 3rd gen incarnation. I have a 2nd gen KLR and use it as the caveman's adventure bike.
I personally don't see the appeal of bringing a complicated high-strung bike that's stuffed full of electronics on long distance trips where off road riding is on the menu and failure is not an option. I met a guy on the MABDR once who took a dip in a river with his Tenere and getting it wet somehow caused the electronics to wedge themselves into such a state that his bike wouldn't start. By the time I met him he'd been camped there for two days with a dead bike after trying anything and everything to get it to run. I forded the exact same river with my KLR to a depth that came up over my boots, and after concluding that there probably wasn't anything I could do to help him that he hadn't already tried (plus he said he had a friend coming with a truck to pick him up), I rode away on my KLR with no troubles other than wet socks.