The Suzuki V-Strom (wee-strom) DL650 is a great bike to look at. The seat height will be better for you at 32″, and is very good at two up…I’m pretty sure it will be my next bike. It is the most comfortable bike I have sat on yet…
The Kawasaki Versys is another bike that I am looking at…quite comparible to the V-Strom, just a little more sporting and a slightly taller seat height. Not quite as good for two up though.
I would also consider a Kawasaki KLR650, cheap, reliable, fuel efficient and good for gravel and dirt roads. Can also be used for touring, just don’t expect high speed touring…
Depending on budget, the BMW F800GS looks nice (along the same lines). Same for the Ducati Multistrada. But I don’t know how good they would be for a new, or returning rider…more power…
Good luck!