Tough question as it depends on the rider really. If you take the low seat, the DS will be the same height as the G310GS, but with ~80lbs more on the hips I'm 5'9 with a 31" inseam and have a DS with the low factory seat, but will get a standard seat because I found the low seat a bit uncomfortable on long rides. My last bike was a KTM LC4 640E, which was like 35" seat height. This put me in about the same spot as you with the DS, but the KTM had a slim waist and like 110 lbs less weight which made it really easy to balance in case of unexpected stops. If you feel uneasy on the BMW, I'd suggest to order the DS or UE fender, have it wrapped in your bike's color and mount it on the ICON. I am not too familiar with the Urban Enduro but I think apart from the fender and the brown seat, there is not any difference. If you really really want to get the DS, here's some motivation to go for it Ride safe!