i am 6'4" and much more comfortable on my klr than I was on my versys. My biggest complaint about the versys was the seat to feet ratio, wind protection, and rough road stiffness. the roads in southern NH are pretty crappy. I have a gen 2 KLR and find it a little more vibby than the versys, a lot less power on the top end but similar down low, torque numbers are pretty close.
I like the klr better because it can be used as a year around bike, the versys can not (tires, wind protection). I can take the klr off road, the versys i can not. the klr is more comfortable and a smoother ride on crappy roads.
the versys is better at keeping up with sport bikes, faster, handles better (klr has better low speed maneuverability), brakes better (but barely), looks better, and is much more stable at highway speeds.
KLR - 55-57 mpgs
Versys - 51-53 mpgs
If I were to buy another 650 twin kawi, i would get the 2012 ninja 650. a little more top end, better mpgs, better wind protection, and more comfortable than the versys.