I don't know the other bikes, but the versys 650 is this:
-tall but not as much as a dirt bike, highway pegs possible.
-430 lbs when fuel tank nearly empty, measured on a scale (230 rear, 200 front). This is nimble.
-21L of fuel is AMAZING, I can reach 400km when careful
-21L though adds 35lbs carried very high.
-does about 52 mpg +/- 5
-no ugly pipe, dissimulated under, but may be a tad hot when not moving.