This is Adam Niswonger, btw:) 6'0 and everything from small trips across town, day rides in the N Ga. mountains plenty of weekend camping trips where we'd base camp and ride each day, and one track day. It wouldn't be my choice for track duty but it can certainly do it. Terrific brakes.
My '18 was a lowered chassis version and it made it feel like a traditional sport tourer. It never felt like it was holding me back with regard to cornering clearance. The Two Gen 2's I had were the standard height, and were slightly more compliant over small bumps, but even the low chassis XR was more compliant than my S1kR. Here's a pic from one of those touring weekends with an MRA windscreen in the higher position.
I'd also recommend the gen 1, 2016-2019 over the gen 2. They civilized the gen 2 a bit, and while it probably is better with regard to gearing spacing being more spread out between 4-6, the gen 1 seat was way better and it felt more raw, in a good way.