The KLR is not meant for trails)
depends on what you mean by trails - geared properly with 50/50 it will do quite nicely tractoring along. Did very well by me.
I had no issue going most areas these guys would but simply did not have the correct tires on for the steeper hills and it't been a long time since I've been off road.
They had better bikes and were younger more fit riders who knew the area but the KLR hauled my rickety *** home
But the bike was bullet proof - started every time even when I dropped it on too steep and muddy a hill.
It's weakness is weight - it has lots of grunt and suspension tho and it's fine on highway and dirt road - we did 100 km pf pretty marginal road/track in the savannah with a number of stream crossings and tricky conditions - then had to retrace it in 35 degree heat when we got to one river too deep - only 8 km from the highway at the other end
That was a long hot day but rolling along home at 110 on the highway the KLR is quite decent and stable and even did okay on the twisties in the Gillies.
My inseam is only 31 and the KLR is a bit tall and heavy for my age and height but for a bit taller and fit rider there are few places it won't ( and hasn't gone ).
Certainly I would never consider taking a Vstrom into spots I took the KLR in tropical Australia.
So depending on the OP height and weight certainly stuff like the Ganaraska Forest should present no issue on a KLR and you can trick it out with full bags and relatively comfortable two up riding.
It's not bad as 20+ years of an almost identical machine production shows.
I could put 400k on getting to some of the further national parks and rattle along the tracks and dirt roads at a comfortable speed for me - ( 20-60 kph )
That one day we got turned back was 420 of which 220 was outback track with any number of nasties waiting to trip up the unwary rider. Mind you we were both tired and hot given the temps.
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That said - I'm considering either a DRZ 400 next year in Aus for the lower weight and agility or just get a intermediate sport tourer and do some longer trips.
I'm conflicted for similar reasons to the OP.