Idk if they are available in your size, but I love the Pirelli Scorpion Trail II on my V650. Like you, most of my riding is on the street but there are those fun off road excursions. I loved the first set so much I replaced them with another identical set.
They are a 90/10 tire. Not for deep sand or mud. I took an adventure riding class which involved single track, water crossings, up and down hills, off-camber trails, and some sand. I've ridden some pretty interesting off-road tracks. The Scorpion Trail II did as well as anything except true knobbies on an enduro bike. Despite their non-aggressive look they do grip the dirt very well. On the road they are much better than the stock factory tires (Dunlop) that came on the V650.
These tires are great for moto-camping. They are excellent on the highways and twisties getting to camp, and then they are fine on the dirt.
Not a motocross tire, and not for the soft sand or slippery mud. Great for pavement and dirt.