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AJP PR7 is the best off the peg adventure bike you can buy at the moment, if you want to do serious offroad and long distances.
Also, the Tenere 700 is a great effort by yamaha, but a little heavy.
Eitherway it's great that manufacturers are beginning to making actual real offroad focused adventure bikes rather than dressed up pigfat commuters.
as for bikes again, as it's always been, the best option is to modify a lightweight trail bike into an adventure bike. The CRF400 is looking to be an excellent candidate for this once more after market parts are available such as fuel tanks.
In the past it was bikes such as the BMW x-challenge and KTM 690r. Bikes which have gone overland over the most challenging routes (BAM road etc)
The problem with bikes like the KLR and DR650 is their weight. They are way too heavy for serious offroad once they are loaded with luggage.