A bike that can do all that stuff at once? Well, that will be neat.
My vote is to load your 950 up with gas like a super tanker, and have fun.
My fancy bike is a 450EXC. Not going to work with the passenger, but it can do 80 on the freeway, and lumpy single track though picking one set of tires to do both is not easy.
Have done 270 miles on a 6.6 gallons tank, and had enough left over to do 300. Not sure if it would do 300 miles of lumpy single track, and I know I wouldn't want to do the first 100 miles with all 6.6 gallons hanging out there on top.
I camped for a week and a half with it, but that was with no camping food or cooking gear.
I also have a KLR650. It will work with a passenger and camping gear, but not really both.
80 on the freeway? KPH yes, MPH not really. Lumpy single-track and smiles, yes, but also not at the same time!