If you're committed to the 950 long term the 510 might be a better choice for you. If you're looking for a bike to replace the 950 I'd choose the 610. I see both bikes as dirt bikes with turn signals, but the 510 takes it a few steps further to the dirt side. I wouldn't hop on a 510 and head to Death Valley, I'd load it in the truck and base camp and ride the 510 around. I'll be riding my 610 everywhere I go. I have ridden both, the 510 is an awesome trail machine.