I have a GS and Ural, very different bikes. With a 30" inseam I couldn't flat foot the bike until I put a lower seat on it. I'll take that bike anywhere but there are a lot of other bikes equally capable also, go sit on some and see what feels right for you guys. GS height is a turnoff to my wife as far as 2 up travel. Solved that problem by buying her a bike she liked also.
I got the Ural for the fun of it, sidecar traveling was really sounding like fun. Ural is slow and steady and more fun than I've had with my pants on in a long time. Long trips require routing on state highways rather then mega interstates. You'll never get lonely traveling by Ural.
I'd seriously look at some of the sidecar rigs people here have if you're considering traveling and exploring. Never experienced a big big city with the sidecar but haven't had an unusual incidents in the cities and towns I've gone through. Sidecar opens up options you wouldn't believe but you'll probably ant to keep the Goldwing also.
I've become more focused on the journey since getting a sidecar rig.