However, I spend 98% of my time on highway. No offense to DRs, DRZs, KLRs, XTs, and WRs, but you're slow and that's okay.
In that case, with 98% road usage, why don't you get a road bike? More comfortable, better gearing, more aerodynamic etc. Then, get a small 125cc or 250cc for tough trails like the one that you nearly lost your life on. You could load it in your truck or buy a small trailer for it. You can buy these for very low prices 2nd hand and they're a hoot to ride in tough terrain.
I always marvel at how inadequate GS/A's are for dirt. Unless the dirt is flat ('ish), well graded, dry, smooth etc, these bikes keep falling over on easy obstacles. I did several rides in central Australia and often feel sorry for GS/A riders who've pulled muscles, sprained ankles etc just from picking up their bikes!
Of course if you can ride like the late Gaston Rahier then the GS/A's are great. Just a thought.