I felt quite comfortable on my DR650 because it was easy to throw around in town. Terrible on highway, not meant for it.
My XL1200 was terrible in town, I did not like it. Rode nice and stable on highway.
My current R1100S is kinda in between - I don't think I particularly like the posture on it, though I have barbacks and lowered pegs now. It's nice and stable on the highway as well.
My Ural - great in the city. Highway? LOL. Top speed 70, I've never hit it..