Any of the three are great. The DR650, the KLR, or the XRL. They are all proven bikes, and each has it's quirks. Any one is a lot of fun. I personally have the DR, and I love that bike. Most fun I ever had on a motorcycle. I ride with a guy that has the KLR, and he has no problem going on all the trails I ride. As for the Honda, well, it's a Honda. Bulletproof.
One thing about the Kawi. Larger fuel tank and larger aftermarket for parts, although the Suzuki and Honda are catching up.