I like the Versys, but it is tall, heavy, and top-heavy to be sure. I'm not interested in single-track riding on it, but I do want to feel comfortable on dirt/gravel/muddy roads and generally uneven terrain.
Speedy lowering kit, it loses 1 1/2" clearance but you will appreciate the lower center of gravity. Lowered Sargent seat or do your own OEM seat mod,save a lot. Boots with a heel. Tall Versys has a lot of clearance, depends how off-road you like. Im 5 foot,8 inches,can flat foot now but dont ride off road much..I do that on my Electric mountain bicycle, I dont mind dropping it or hopping off and bailing out! That said, the Versys 300 looks like a good compromise. My buddy decided to go from the tall and heavier Africa Twin to a Honda 250, now hes full on off road. But lots of folks on this forum use their Versys 650 off pavement with great satisfaction, theres always a compromise with the concept of "Adventure" bikes.