If you don't have any off road experience but want to do some I'd suggest booking an off road day with the use of their bikes.

I've used the 'Yamaha off road experience' school based in Wales 3 times over the years and can't rate them enough. They use WR's and TTR's of various capacity and instructors are all ex or current enduro professionals.

Website below

Yamaha Offroad Experience - Motorcycle Experience - Enduro

Happy travels

Bones

Plus One on getting training to build Off Road skills. You'll soon learn that a big bike (ALL on your Fav's list) are not ideal off road.

Sure, the Vstrom is capable and with a good pilot on board can cope if bike is set up for off road. But it's no walk in the park in the rough stuff. NONE you listed really are save perhaps the Africa Twin.

At the school you'll be on 250's. And that is where you need to begin if you hope to gain any confidence/skill off road. I'm 5'6" too and have ridden dirt bikes all my life. You can do it. Do cross training on mountain bike, get stronger.

Vstroms have been taken to really unlikely places and survived.

This is a hard question to answer ... so many elements to address:
Cost, Weight, Flash factor, re-sale, reliability long term, On Road AND Off road
capability. You won't get it all in one bike.

Do consider the Honda CB500X. Good value IMO. Maybe put that off road kit on it?
Or ... find a XT600 single or 660 Tenere', or Honda XR650L or something.
These big singles won't match the others for on road comfort or packing up but if you plan rough tracks, big 650 class thumpers are quite good. But still ... very heavy vs. a WR250R.

The 250's like the WR250R aren't road blasters like the AT, Tiger, GS but as mentioned, in some places you don't need a lot of top speed. And if you want to explore ... a lightweight 250 is a very good place to start.

If you resign yourself to stay mainly on road ... the Vstrom is very good value.
I did 90K miles on a Vstrom, much in Baja, all over Mexico. Stone reliable, easy maintenance.

I for sure would NOT buy the latest fancy XT version. Buy a nice used original one.
Of the bikes mentioned, the Tiger 800 is my fav for ROAD riding ... but comes LAST off road. The AT will be expensive with few used examples around. Tiger and GS very expensive for service unless you can do it all yourself. I had a Triumph
Tiger 1050 ... dealer wanted $800 for a valve adjustment/service!!

I would start small, ride a year or two, then move up if you feel the need and can then handle a bigger, heavier bike after honing your skills on the small bike.