The whats an ADV bike is like the how long is a piece of string debate I guess. And adventure travel is very different, I'll agree 90% of big BMW's and KTM see some gravel, and they see mud at the BMW rallies where they have off road riding circuits, and twelve guys to pull you out of the mud.
I found the V strom was very nice but built to a price point, suspension was limited and it lacked low gear lugging. Momentum was fine and it was light enough but when the sand got deep it would wallow, the only way out of deep sand when you get the front wheel working like a rudder is more power on, 100hp is your friend.
I like stuff like hill start assist and decent control and variable traction settings (now) , I did grow up on Maico and Huskys and off road triumphs , but I'm also old.