I think depending on what you're coming from the Versys can feel tall at first. For me now, my other bike feels short. Everyone here loves their Versys, so you will surely get lots of encouragement to go for it. There are many things to love about it. For me it really is the perfect do everything bike, and it does everything well. Urban streets, freeway commutes, touring/camping, canyon carving.
I'm just under 6' tall and the height is perfect for me. If you find that you don't get used to it, there are lowering kits (e.g., Speedy's lowering kit, do a search here, you might even find one used).
I've had my Versys for coming up on a year and a half and ride almost everyday. I have never regretted it once. Brings a smile to my face every time.
I guess another thought would be that if you prefer sitting more "in" the bike there's the ER6-N, essentially the same bike, but different suspension, plastics, etc. I haven't sat on one in a couple of years, so don't know what that's like, but my guess is that it has a little more of a sport bike feel and less of the adventure touring feel.
Keep us posted!