Given that you'll still have the big Beemer for road riding I'd suggest a DRZ would probably suit you better. When you get to trickier off road stuff you'll be wishing you had a lighter bike more than you'll regret its shortcomings on road.
The DRZ400 comes in E, S, and SM models. The SM is the motard, a bit pointless when you're looking for an adventure bike. The E and S have been around longer but there are far more E models. The S is supposedly more road oriented (though not a motard) but the important differences are it has more weight and less power. I forget what any advantages are but you probably want the E, which most of them are.
Upgrades that I'd consider near essential for getting the best from it would be a bigger tank, lever guards and some sort of carrying system (if you can tie bags on fine then you don't really need a rack). You'll get by without a sump guard until you need one, then you're fucked.
Here's what's probably the most awesome DRZ400 in the country.

 
			
 
						
					 
					
					
 
		
				
				
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 Originally Posted by Ender EnZed
 Originally Posted by Ender EnZed
					
 
						
					

 
						
					 
				 
						
					 
						
					
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