KTM's 390 is lighter than most adventure/tour bikes, but it actually has an impressive 6 speed liquid cooled engine. Only 350 pounds, and the stiff trellis style frame with 56 inch wheelbase and 63 degree steering head make this an off road capable adventure bike.
They've got a 2024 model locally for $7,600
Not cheap, but not cheap either. KTM engineering is generally worth it if you can pay for it.
https://www.ktm.com/en-us/models/tra...venturesw.html
https://www.motorcycle.com/bikes/adv...-know-44593048