Funny you should ask, as I am considering the same thing.
The KLR is on the too tall side, & so is the Honda XR650L.
The DR650 needs suspension work, but is otherwise a possibility & has a reasonable seat height. But it is aesthetically challenged.
The DL650 is a very functional bike, but to my eyes it is fugly, & too street-biased.
I don't know much about the DR400, but man is that seat narrow.
The XT250 is kinda small, as is the comparable Honda 230.
The KLX250 is tall, but better equipped for offroad excursions.
I am really interested in taking a look at the KL250 Super Sherpa, but have not seen one on the dealer's showroom yet.
I also like the idea of a tricked-out Scrambler...