There is a weird cult following for the Tenere and the XT range in general but their claims don't always add up. I met some guys who run a touring club, they told me they use the new Tenere 660 (if that's the one you're talking about) and they ditch them at 20000 miles when they pack up as otherwise they're too much trouble.
I would avoid any BMW with the exception of older boxers and their single cylinder range. The Dakar is good, very economical, comfortable and reliable. In case you didn't know, BMW is launching a new version of the single GS this month, same old bike with new plastic. For your use it's better looking but has 14 litre tank down from 16 and a slightly less comfy seat. In the UK it's under £5k new so very cheap. No Dakar version yet but the word is all parts will fit.

I would have a test ride if poss on all 4 then decide

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We are the Pilgrims, Master, we shall go Always a little further: it may be beyond that last blue mountain barred with snow, Across that angry or that glimmering sea.

I had 2003 Suzuki DRZ-400 great bike good poke, easy to work on.
I rode a 96 yam XTZ-660 Tenere to cape york (north most tip of QLD Aus) and back from melborne. No probs.

I am now riding a Suzuki DR 650 and I think its most versatile of the lot. Old but proven design that hasn't changed much coz it works. Got power but not scary..

But as Selous says test ride will serve you well.

You just found one here - my 950 turned 100,000 kms last week somewhere around Cuilacan, Mexico.

OK, carry on

This side of the water we think in miles. On average the KTM 950 delivers only 35mpg on average whereas an equivalent 650 (mine for instance) does twice that, even in town and more like 90 on a run. Your 100000km is about 62000 miles.
62000 miles, assuming fuel at the new all time high of £6 per gallon (nice easy number) will cost you £10630 (roughly) over the time it has taken to put those miles on the bike. Obviously a 650 class will be half that at £5315. Either way it's the cost of the machine again and this doesn't take into account the much higher KTM service costs which are also more frequent. Also you've been lucky, most KTMs will not see this high mileage in one piece and I'm assuming you haven't had any costly repairs, again which would be far cheaper on a 650 class single.
But what do you gain in having this class of bike? Mine will manage 100mph, the acceleration will mean you will have an edge on me but my lighter bike will keep up in normal use... and does in normal use. Offroad the 950 is probably the best handling of the giant adventure machines although the GS is very good but no matter how good, a smaller enduro is going to be easier to handle. The Dakar in fact has the same fuel economy as my bike and will adapt very well to various fuel quality, pressure, heat and altitude and handles well in all environments.
Everyone is entitled to their opinion and if I had a bike I trust I would stick to it as well but I don't see the point of going for a bike in that class over a more practical and cheaper alternative which is in all likelihood going to be more reliable and easier to use and equip.
If I were in the market for a new bike for touring I know which way I would go right now.

Jtw000 - I'm from that side of the water too, but thank you for the conversion.

I'm not contributing to this thread beyond pointing out that there is one (and many other) KTMs with over 100,000 KMs. I haven't owned or ridden enough bikes to know mine compares to the others, but I probably agree with you - something around 600cc would be ideal for traveling on dirt.

All good advice. Small is best.

If this is your first bike then invest in on and off-road training, and good gear before your bike.

There is no one bike that does everything well. The ones you mentioned will do some things well and others not so much.

For off-road you want something light. After you have picked your bike up more than three times you will be exhausted and fall off more.

Also, realistically your tyre choice will dictate what you can do. You can't ride offroad on road tyres (certainly not as a novice). Offroad tyres will wear out faster when road riding. So you should consider spare wheels with offroad tyres for offroading if you can't get two bikes. It faster and easier to change whole wheels than tyres.

I have the F650GS and anything around the engine is a pain to work on, I have to strip lots of panelling off to get access to anything. It's not complicated but does take time and everything requires 10" multijointed, pencil-thin fingers to get access (At the moment I am well peed off because I can't take the clutch cover off at all because there is a big metal oil pipe holding it in, and that is just for starters...)

Hey but it is a good all rounder. Super commuter bike, OK for touring (a bit underpowered and little weather protection) and a bit heavy for off road!

My recommendation would be for 250 to 400cc range. The DRZ400 is a super 'little' bike.

Enjoy