You could easily get to grips with any touring machine.. It's the dirt that'll undo you.. Adventure bikes are designed to tour on and take on dirt. But they are going to be substantially taller as you need that additional ground clearance to deal with off-road conditions and suspension plush enough to soak it all up.
Saying that, You can lower pretty-much any bike. With most adventure bikes you can usually find aftermarket dogbones to drop the rear, and you can drop the front forks down to keep your bike's geometry relatively unchanged. Or, you could send your bike to a suspension specialist and have them reduce travel in your OEM setup to get a height you are comfortable with for the kind of riding you do.. I have seen WR'S dropped 5 inches (which is pretty-low), but that also prevents you taking the less beaten paths on a bike like that, for doing so.
There are the scrambler class of bikes? Which might be more of what you are used to? Not really designed for really rough stuff, but they can get out on forest roads easy enough.. But, Touring? MMmm yeah..okay..but they aren't the best for that.
That's the thing with bikes.. They kinda need to be setup in a specialized way to do an adequate job of the tasks you throw at them.
You could get a Ural?!
You'd be the Coolest Kid on The Block!
Whatever you decide, All the Best and Best of Luck!