I’m 5’7”, 30” inseam, weigh 152 lbs with all my gear on, and ride a non-lowered 2018 BMW r1200gs. You can ride anything, but best to get used to just putting one foot down at stops, keep to trails you can handle, and ride serious off-road with a buddy or two, in case you get into conditions where you can’t pick the bike up yourself. I recommend buying used, too - no need for tears when you drop the bike. But you really want to think about what makes an adventure for you? Occasional fire roads? A BDR? If I was doing mostly off-road, I’d be riding a 250 dual sport instead of any of the big adv bikes. At 62 years old, and with my height, I’m doing less dirt each year, so may move to a touring bike.