You can get the KLR to the Versys seat height. ....with a 30" inseam, you shouldn't need to do too much and most of it is practice and getting used to it. I always recommend taller boots and a shorter seat first....there are lowering links available but they effectively lower the shock springrate and damping due to increased leverage - stock KLR (pre-2014.5) is designed for a 160 lb rider...not sure how heavy you are or if you plan on running 2 up or heavily loaded.
I also owned a Versys....and I thought it was a great bike - on pavement; much better than a KLR. Off pavement; other way around. The KLR is lighter and has much better suspension and with the 21" front, there is much better tire selection for offroad. The engine and exhaust are out of harms way compared to a Versys as well. The Versys has far more power, better brakes and the tubeless 17" cast wheels have better pavement tire selection.
A Rebel is completely different altogether.