I’m 5’11”, and I can’t quite flat foot with both feet at a stop, so it should be a good fit for you. It is quite a comfortable bike, with a 650cc parallel twin…the same engine that is on the Ninja 650R with different tuning, more low to mid torque…I ended up buying a GS500, and it is a little small (height wise) but I am comfortable on it with my feet on the pegs. My inseam is 32″, I would imagine yours is more like 34″…so your knees might sit higher than the releifs in the tank and that might make it uncomfortable.
The dual sports or adventure bikes will be the tallest of bikes, but most of the adventure bikes are 800cc or larger (thinking of BMW GS bikes). The new KLR650 is a pretty nice bike and has a good reputation for durability and go anywhere, just depends on whether you like the styling or not.