i am 5'-10" and 160lbs...i feel straight at home on my xr 650l even on single track...the size of the bike is a mental thing IMO.
im just under 5' 11" 183lbs.
The bike is tall thats for sure , but you get used to it.
Only problem i have is offroad , getting high sided on a hill where i can put my foot down to contact the ground.
you adjust to the bike quickly.