I don't think the OP mentioned Copper Canyon, but it's certainly a worth while site!

There are a few rough roads in the area but most are passable even on a big bike. Thousands have done it on GS's, Vstroms and such. I've been 5 times going back to 1973. Latest visit last November.

But NO QUESTION a Super Sherpa or CRF250L would be more fun and easier in the rough sections. But may not be the best for riding highway. I find my DR650 a pretty good compromise between weight vs. agility. Also consider load carrying ability, crash survival and a few other things.
The DR is as LOW as a Funduro or F650 BMW if factory lowering is used ... and it is LOWER than the BMW with a $40 Lowering link installed. But the MAIN advantage of the DR650 Suzuki over the BMW F650 is that it's 60 lbs. lighter weight, far more reliable and much easier maintenance.
On the DR650 going rackless can be tough unless you use a Giant Loop type bag. Without a small rack you're likely to BURN UP your panniers. Don't ask me how I know about this! Lightweight racks are best on the DR ... I've tried all kinds.

Pack Safe seem like a good system !
On the DR650 an aftermarket saddle is pretty much a MUST HAVE. Wind screens are tough to get quiet. I go with NO shield at all. Nice and quiet ... but in super cold weather a shield is nice if you can get it quiet.