I rarely ride off road though have been there. I have ridden Gripsters, three rears and two front, and they performed well on or off road though they have a reputation for not liking mud (but who does). Currently have a pair of Distanzia "S" and I like them very much though I want to know how they handle when the rear tire is squared from excessive asphalt miles.
Michelin Anakee or Metelzer Tourance are a bit pricey though seemly good performance and wear tires.
In May I will be installing TKC80's for the Moab trip and they might make a one-way Alaska trip.
Read a lot and consider type and style of riding plus air pressure. All of these are personal though they do vary the performance and life of the tire.
2005 KLR 685
2015 Yamaha Super Tenere ES, 5/23/2015
2012 Yamaha Super Tenere; Purchased 7/30/2011; Sold 5/23/2015