We did Africa (cairo to Cape Town route) two up with a 100kg of luggage on a R100GS. We were focused on getting there and unlike some other bike travellers we met we were not tempted to go looking for off road for sport. We did take the bike up Mt. Kenya (to nearly 4000 metres) and all around Botswana and Namibia off road and never really felt restricted. It was a bit of a liabilty in deep sand due to weight and road tyres. I've owned an 1150 since and wouldn't even consider it for the same trip. The bike is much too heavy to start with and vastly overated in my opinion.
I've never liked quads even though they are road legal here but you never know, the next trip may be me on the bike and wifey on a quad - she's not safe in control of 2 wheels pedal power or engine.
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