No, I believe some of the water crossings and ride in general aren't exactly suitable for a 1/4 ton tank.
Following 250s for the average road rider may be a snore, but adventure riding... yeah, I know limits. They float across sand, I dig a trench. Not to mention I'll probably have a wee nap and the last time that happened I ended up with a 2nd degree burn to my leg, which got infected, which kept me off my feet for 2 weeks, which I had to keep out of the sun for 2 years
I know you're supposed to accelerate through sand (front light, back heavy), but that advice doesn't come from people controlling 100hp! Also, I think I've just sold my set of TKCs... wasn't using them.
Anyway, back on topic. Plenty of the adventure styled bikes are more like all road tourers, like the Honda Crosstourer. That said, even the Super Tenere (which some have taken to extreme places) needed extra protection from stock. My GS Adventure came with a bash plate. That got dented during one segment of adv riding and was far too small for real protection, so it's been replaced with a much bigger bash plate (about twice the size) covering a lot more of the underneath, and a centre stand plate has been fitted which means almost the entire underneath is now protected between front and rear wheels. Realistically, that should have been done from stock.
However, as JD has said (not quite that percentage), BMW has done studies, and yes, a significant majority never leave sealed roads. The new GSs even have more road biased tyre sizing. Only problem with a new bike is limited accessories available, but the aftermarket always catches up, and you can modify as you wish to suit your needs.
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